67 research outputs found

    Explorer-II: Wireless Self-Powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

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    Novel Validation Techniques for Autonomous Vehicles

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    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

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

    Geotechnical Engineering for the Preservation of Monuments and Historic Sites III

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    The conservation of monuments and historic sites is one of the most challenging problems facing modern civilization. It involves, in inextricable patterns, factors belonging to different fields (cultural, humanistic, social, technical, economical, administrative) and the requirements of safety and use appear to be (or often are) in conflict with the respect of the integrity of the monuments. The complexity of the topic is such that a shared framework of reference is still lacking among art historians, architects, structural and geotechnical engineers. The complexity of the subject is such that a shared frame of reference is still lacking among art historians, architects, architectural and geotechnical engineers. And while there are exemplary cases of an integral approach to each building element with its static and architectural function, as a material witness to the culture and construction techniques of the original historical period, there are still examples of uncritical reliance on modern technology leading to the substitution from earlier structures to new ones, preserving only the iconic look of the original monument. Geotechnical Engineering for the Preservation of Monuments and Historic Sites III collects the contributions to the eponymous 3rd International ISSMGE TC301 Symposium (Naples, Italy, 22-24 June 2022). The papers cover a wide range of topics, which include:   - Principles of conservation, maintenance strategies, case histories - The knowledge: investigations and monitoring - Seismic risk, site effects, soil structure interaction - Effects of urban development and tunnelling on built heritage - Preservation of diffuse heritage: soil instability, subsidence, environmental damages The present volume aims at geotechnical engineers and academics involved in the preservation of monuments and historic sites worldwide

    An Investigation into Improving Test Effectiveness for Embedded Software

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    This thesis reports on the investigation of the effectiveness of software testing on embedded systems. The aim was to improve confidence in the current methods employed or to find new methods which could improve the hit rate of defects found before software is sent to a customer. We investigate previous work into software testing effectives and various black box testing methods. There are various Black Box testing methodologies that can be employed to detect errors in systems with varying degrees of success. In this thesis we investigate the transformation of the white box testing technique of Definition Use (DU) Path testing using a RESOLVE like specification, to be applied as black box test method. We do not use RESOLVE it self, instead we defined our own method of automatic test generation based on the principles of RESOLVE. Then we compare this method to more commonly used requirements driven test selection, and pure boundary value analysis (BVA) testing techniques. The results reported in this thesis indicate that BVA and DU test selection methods create tests that are covered by unit and integration tests. The current requirements driven test cases create tests with a combination of features working in tandem. It was found that combination of features was more likely to find defects because developers tests had a lesser focus on this area. The tests generated by the BVA and DU test selection methods did not find any defects that their respective methods were intended to find. This is due to the development team already having tests that covered these areas and defects had been fixed before system tests could be run. Based on the fact that the current test selection methods find defects and the methods we investigated do not, this adds confidence that the system test approach to testing is effective. The investigation of defects found showed that timing related errors are common and that a test selection method designed to find timing related defects would be worth investigating. The investigation also revealed a useful method in automatic generation of test cases. The RESOLVE like specification was used to apply a DU testing as a black box test method. This method showed to be more time efficient at generating test cases than the existing requirements driven approach. Although the test cases did not reveal significant defects, due to the overlap with integration testing, it could be a useful method for developers to generate test cases

    Selected Papers from 2020 IEEE International Conference on High Voltage Engineering (ICHVE 2020)

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    The 2020 IEEE International Conference on High Voltage Engineering (ICHVE 2020) was held on 6–10 September 2020 in Beijing, China. The conference was organized by the Tsinghua University, China, and endorsed by the IEEE Dielectrics and Electrical Insulation Society. This conference has attracted a great deal of attention from researchers around the world in the field of high voltage engineering. The forum offered the opportunity to present the latest developments and different emerging challenges in high voltage engineering, including the topics of ultra-high voltage, smart grids, and insulating materials

    Parts, Materials, and Processes Experience Summary

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    The ALERT program, a system for communicating common problems with parts, materials, and processes, is condensed and catalogued. Expanded information on selected topics is provided by relating the problem area (failure) to the cause, the investigations and findings, the suggestions for avoidance (inspections, screening tests, proper part applications), and failure analysis procedures. The basic objective of ALERT is the avoidance of the recurrence of parts, materials, and processed problems, thus improving the reliability of equipment produced for and used by the government

    Empirical investigations supporting an extensible, theoretical approach to understanding software inspections

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    Empirical software engineering research has directed substantial effort towards understanding and improving software inspection, a defect detection method much less costly than testing. However, software inspection suffers from a lack of theory governing the process and its outcomes, leading to apparently contradictory experimental outcomes that cannot easily be reconciled. This theoretical uncertainty hinders efforts to effectively address delocalisation - the occurrence of related information in different artefacts, or parts of a software system. Delocalisation is a hurdle to software comprehension, an activity fundamental to inspection.A gap currently exists between the development of inspection strategies and theories of software comprehension, manifested in two ways. First, although some strategies seek to enhance an inspector's understanding of key parts of the software, they generally ignore variability between inspectors. A particular form of guidance or cognitive support given to one inspector may have a different effect when given to another. Second, while models of inspection cost effectiveness exist, they are not expressed in terms of factors that might be manipulated to improve inspection performance. It is not clear how far an inspector should go to address one particular concern in the software, before the benefits of doing so are outweighed by the risk of ignoring other concerns.This thesis first reports on an industry survey examining the current state of practice with respect to peer reviews. Two more qualitative studies were conducted to explore approaches inspectors might take to the comprehension of artefact interrelationships and the challenges posed by delocalisation. A controlled experiment is then presented to show how active guidance and inspector expertise affect the detection of individual defects.Using the results of these studies, a theoretical framework and model of inspection cost effectiveness are proposed in which the effects of experience, cognitive support and the reading technique can be used to predict the consequences of a given inspection strategy. A simulation of the model was conducted to compare several new and existing inspection strategies. Thus, the framework and model provide a basis upon which an appropriate inspection strategy can be developed, selected or refined for a given software project.The results of these investigations suggest several ways in which inspection practices might be improved, including through the additional use of tool support and selective use of active guidance under specific conditions. By instantiating and using the proposed inspection model, software development organisations can engineer optimally cost effective inspection strategies

    Transcript expression-aware annotation improves rare variant interpretation

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    The acceleration of DNA sequencing in samples from patients and population studies has resulted in extensive catalogues of human genetic variation, but the interpretation of rare genetic variants remains problematic. A notable example of this challenge is the existence of disruptive variants in dosage-sensitive disease genes, even in apparently healthy individuals. Here, by manual curation of putative loss-of-function (pLoF) variants in haploinsufficient disease genes in the Genome Aggregation Database (gnomAD)(1), we show that one explanation for this paradox involves alternative splicing of mRNA, which allows exons of a gene to be expressed at varying levels across different cell types. Currently, no existing annotation tool systematically incorporates information about exon expression into the interpretation of variants. We develop a transcript-level annotation metric known as the 'proportion expressed across transcripts', which quantifies isoform expression for variants. We calculate this metric using 11,706 tissue samples from the Genotype Tissue Expression (GTEx) project(2) and show that it can differentiate between weakly and highly evolutionarily conserved exons, a proxy for functional importance. We demonstrate that expression-based annotation selectively filters 22.8% of falsely annotated pLoF variants found in haploinsufficient disease genes in gnomAD, while removing less than 4% of high-confidence pathogenic variants in the same genes. Finally, we apply our expression filter to the analysis of de novo variants in patients with autism spectrum disorder and intellectual disability or developmental disorders to show that pLoF variants in weakly expressed regions have similar effect sizes to those of synonymous variants, whereas pLoF variants in highly expressed exons are most strongly enriched among cases. Our annotation is fast, flexible and generalizable, making it possible for any variant file to be annotated with any isoform expression dataset, and will be valuable for the genetic diagnosis of rare diseases, the analysis of rare variant burden in complex disorders, and the curation and prioritization of variants in recall-by-genotype studies.Peer reviewe

    Rankine cycle test facility study - Technical data Final report

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    Vacuum environmental requirements, loop design, materials, and instrumentation for facility to be used for testing liquid metal Rankine cycle component
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