Reliability in Power Electronics and Power Systems

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FPGAs in Industrial Control Applications

The aim of this paper is to review the state-of-the-art of Field Programmable Gate Array (FPGA) technologies and their contribution to industrial control applications. Authors start by addressing various research fields which can exploit the advantages of FPGAs. The features of these devices are then presented, followed by their corresponding design tools. To illustrate the benefits of using FPGAs in the case of complex control applications, a sensorless motor controller has been treated. This controller is based on the Extended Kalman Filter. Its development has been made according to a dedicated design methodology, which is also discussed. The use of FPGAs to implement artificial intelligence-based industrial controllers is then briefly reviewed. The final section presents two short case studies of Neural Network control systems designs targeting FPGAs

SatCat5: A Low-Power, Mixed-Media Ethernet Network for Smallsats

In any satellite, internal bus and payload systems must exchange a variety of command, control, telemetry, and mission-data. In too many cases, the resulting network is an ad-hoc proliferation of complex, dissimilar protocols with incomplete system-to-system connectivity. While standards like CAN, MIL-STD-1553, and SpaceWire mitigate this problem, none can simultaneously solve the need for high throughput and low power consumption. We present a new solution that uses Ethernet framing and addressing to unify a mixed-media network. Low-speed nodes (0.1-10 Mbps) use simple interfaces such as SPI and UART to communicate with extremely low power and minimal complexity. High-speed nodes use so-called “media-independent” interfaces such as RMII, RGMII, and SGMII to communicate at rates up to 1000 Mbps and enable connection to traditional COTS network equipment. All are interconnected into a single smallsat-area-network using a Layer-2 network switch, with mixed-media support for all these interfaces on a single network. The result is fast, easy, and flexible communication between any two subsystems. SatCat5 is presented as a free and open-source reference implementation of this mixed-media network switch, with power consumption of 0.2-0.7W depending on network activity. Further discussion includes example protocols that can be used on such networks, leveraging IPv4 when suitable but also enabling full-featured communication without the need for a complex protocol stack

Real-time multi-domain optimization controller for multi-motor electric vehicles using automotive-suitable methods and heterogeneous embedded platforms

Los capítulos 2,3 y 7 están sujetos a confidencialidad por el autor. 145 p.In this Thesis, an elaborate control solution combining Machine Learning and Soft Computing techniques has been developed, targeting a chal lenging vehicle dynamics application aiming to optimize the torque distribution across the wheels with four independent electric motors.The technological context that has motivated this research brings together potential -and challenges- from multiple dom ains: new automotive powertrain topologies with increased degrees of freedom and controllability, which can be approached with innovative Machine Learning algorithm concepts, being implementable by exploiting the computational capacity of modern heterogeneous embedded platforms and automated toolchains. The complex relations among these three domains that enable the potential for great enhancements, do contrast with the fourth domain in this context: challenging constraints brought by industrial aspects and safe ty regulations. The innovative control architecture that has been conce ived combines Neural Networks as Virtual Sensor for unmeasurable forces , with a multi-objective optimization function driven by Fuzzy Logic , which defines priorities basing on the real -time driving situation. The fundamental principle is to enhance vehicle dynamics by implementing a Torque Vectoring controller that prevents wheel slip using the inputs provided by the Neural Network. Complementary optimization objectives are effici ency, thermal stress and smoothness. Safety -critical concerns are addressed through architectural and functional measures.Two main phases can be identified across the activities and milestones achieved in this work. In a first phase, a baseline Torque Vectoring controller was implemented on an embedded platform and -benefiting from a seamless transition using Hardware-in -the -Loop - it was integrated into a real Motor -in -Wheel vehicle for race track tests. Having validated the concept, framework, methodology and models, a second simulation-based phase proceeds to develop the more sophisticated controller, targeting a more capable vehicle, leading to the final solution of this work. Besides, this concept was further evolved to support a joint research work which lead to outstanding FPGA and GPU based embedded implementations of Neural Networks. Ultimately, the different building blocks that compose this work have shown results that have met or exceeded the expectations, both on technical and conceptual level. The highly non-linear multi-variable (and multi-objective) control problem was tackled. Neural Network estimations are accurate, performance metrics in general -and vehicle dynamics and efficiency in particular- are clearly improved, Fuzzy Logic and optimization behave as expected, and efficient embedded implementation is shown to be viable. Consequently, the proposed control concept -and the surrounding solutions and enablers- have proven their qualities in what respects to functionality, performance, implementability and industry suitability.The most relevant contributions to be highlighted are firstly each of the algorithms and functions that are implemented in the controller solutions and , ultimately, the whole control concept itself with the architectural approaches it involves. Besides multiple enablers which are exploitable for future work have been provided, as well as an illustrative insight into the intricacies of a vivid technological context, showcasing how they can be harmonized. Furthermore, multiple international activities in both academic and professional contexts -which have provided enrichment as well as acknowledgement, for this work-, have led to several publications, two high-impact journal papers and collateral work products of diverse nature

Real-time multi-domain optimization controller for multi-motor electric vehicles using automotive-suitable methods and heterogeneous embedded platforms

Los capítulos 2,3 y 7 están sujetos a confidencialidad por el autor. 145 p.In this Thesis, an elaborate control solution combining Machine Learning and Soft Computing techniques has been developed, targeting a chal lenging vehicle dynamics application aiming to optimize the torque distribution across the wheels with four independent electric motors.The technological context that has motivated this research brings together potential -and challenges- from multiple dom ains: new automotive powertrain topologies with increased degrees of freedom and controllability, which can be approached with innovative Machine Learning algorithm concepts, being implementable by exploiting the computational capacity of modern heterogeneous embedded platforms and automated toolchains. The complex relations among these three domains that enable the potential for great enhancements, do contrast with the fourth domain in this context: challenging constraints brought by industrial aspects and safe ty regulations. The innovative control architecture that has been conce ived combines Neural Networks as Virtual Sensor for unmeasurable forces , with a multi-objective optimization function driven by Fuzzy Logic , which defines priorities basing on the real -time driving situation. The fundamental principle is to enhance vehicle dynamics by implementing a Torque Vectoring controller that prevents wheel slip using the inputs provided by the Neural Network. Complementary optimization objectives are effici ency, thermal stress and smoothness. Safety -critical concerns are addressed through architectural and functional measures.Two main phases can be identified across the activities and milestones achieved in this work. In a first phase, a baseline Torque Vectoring controller was implemented on an embedded platform and -benefiting from a seamless transition using Hardware-in -the -Loop - it was integrated into a real Motor -in -Wheel vehicle for race track tests. Having validated the concept, framework, methodology and models, a second simulation-based phase proceeds to develop the more sophisticated controller, targeting a more capable vehicle, leading to the final solution of this work. Besides, this concept was further evolved to support a joint research work which lead to outstanding FPGA and GPU based embedded implementations of Neural Networks. Ultimately, the different building blocks that compose this work have shown results that have met or exceeded the expectations, both on technical and conceptual level. The highly non-linear multi-variable (and multi-objective) control problem was tackled. Neural Network estimations are accurate, performance metrics in general -and vehicle dynamics and efficiency in particular- are clearly improved, Fuzzy Logic and optimization behave as expected, and efficient embedded implementation is shown to be viable. Consequently, the proposed control concept -and the surrounding solutions and enablers- have proven their qualities in what respects to functionality, performance, implementability and industry suitability.The most relevant contributions to be highlighted are firstly each of the algorithms and functions that are implemented in the controller solutions and , ultimately, the whole control concept itself with the architectural approaches it involves. Besides multiple enablers which are exploitable for future work have been provided, as well as an illustrative insight into the intricacies of a vivid technological context, showcasing how they can be harmonized. Furthermore, multiple international activities in both academic and professional contexts -which have provided enrichment as well as acknowledgement, for this work-, have led to several publications, two high-impact journal papers and collateral work products of diverse nature

Plataforma de monitorização remota dos parâmetros dos veículos e interações da estrada

With the recent evolution of the Internet of Things (IoT), as in different areas of everyday life, the Automotive Industry has also been having to adapt with the Internet of Vehicles (IoV). In consequence of this, the number of electronic systems and devices in an automobile is ever increasing. By one hand, this is a growing tendency of using these technologies to improve road safety, by decreasing the probability of human error. On the other hand, to guarantee the safety and proper function in the operation of vehicles it becomes necessary to acquire information and monitor these devices, so as to determine the cause of failures that may happen and of the equipment wear to prevent malfunctions and accidents. With that in mind, this work will have two branches. First, a program will be presented to read the data from the vehicle’s diagnostic system with the purpose of storing it in a database by using a data logger and of analysing the data to monitor the engine’s working parameters. With this analysis it will be possible to visualize the main parameters of the car and its devices, acquiring information to define the normal driving conditions so as to determine when some problem occurs, as well as to examine how the parameters change in consequence from the equipment wear. Meanwhile sensors will also be installed in the car that will be used for object detection of possible obstacles that the vehicle may come across in normal conditions, be it another vehicle, a person or objects. The readings acquired by the sensors will also be stored for analysis and treatment in order to get the desired information from them. This work also proposes that all the information stored in the database be easily consulted, in a web page, accessible at any time through any device connected to the internet with a Web browser. Therefore, drivers would be helped with the awareness of the vehicle’s surroundings and also be able to monitor the vehicle’s proper function and discover if problems should appear before it could cause major failures and safety breaches. In order to accomplish those goals, a solution using a LiDAR sensor, a GPS module, a Bluetooth module, an ELM327 diagnostic device and three Esp32 microcontrollers was developed. In this Dissertation will be described the developing processes and the solutions obtained that led to the solution of the problems approached here.Com a recente evolução trazida pela Internet das Coisas (IoT), tal como ocorreu em diversas áreas da vida cotidiana, a Industria Automobilística teve que se reinventar e adaptar, com a Internet dos Veículos (IoV). Consequentemente, o número de sistemas e equipamentos eletrónicos presentes em um automóvel é cada vez maior. Por um lado, é uma tendência crescente o uso dessas tecnologias para garantir a segurança rodoviária, de modo a diminuir a probabilidade de erros humanos. Por outro lado, para ser possível garantir a segurança e o funcionamento adequado dos veículos tornou-se necessário monitorizar estes equipamentos, com o propósito de determinar as causas de possíveis falhas e do desgaste durante o uso destas partes para prevenir falhas e acidentes. Com estes objectivos, o trabalho desenvolvido nessa dissertação terá duas vertentes. Primeiramente, será apresentado um programa usado para ler as informações adquiridas pela centralina do carro com o propósito de armazenar essas informações em uma base de dados por meio de um Data Logger e também de realizar uma análise para monitorizar os parâmetros do motor. Com isto será possível visualizar os principais parâmetros de condução, identificando como seria a condição normal de funcionamento com o propósito de determinar quando há algum problema e para examinar a variação dos parâmetros devido ao desgaste. Enquanto isso, também serão instalados sensores no veículo com o intuito de identificar objetos comuns de serem encontrados em condições normais, sejam estes outros veículos, peões ou ciclistas. As leituras adquiridas também serão armazenadas para análise e tratamento dos dados, para conseguir as informações desejadas. Neste trabalho também é proposto que a informação armazenada na base de dados seja facilmente consultável a partir de uma página Web, acessível a qualquer momento por meio de um equipamento conectado `a Internet e com um Web Browser. Desta forma, os motoristas seriam auxiliados com a perceção dos arredores do veículo e seriam capazes de monitorizar o funcionamento do seu veículo e identificar o aparecimento de problemas antes que estes causem falhas e apresentem maior risco de segurança. Para atingir esses objetivos, foi desenvolvida uma solução utilizando um sensor LiDAR, um módulo GPS, um módulo Bluetooth, um dispositivo de diagnóstico ELM327 e três microcontroladores Esp32. Nesta Dissertação serão descritos os processos de desenvolvimento e as soluções obtidas que levaram à solução dos problemas aqui abordados.Mestrado em Engenharia Mecânic

New Fault Detection, Mitigation and Injection Strategies for Current and Forthcoming Challenges of HW Embedded Designs

Tesis por compendio[EN] Relevance of electronics towards safety of common devices has only been growing, as an ever growing stake of the functionality is assigned to them. But of course, this comes along the constant need for higher performances to fulfill such functionality requirements, while keeping power and budget low. In this scenario, industry is struggling to provide a technology which meets all the performance, power and price specifications, at the cost of an increased vulnerability to several types of known faults or the appearance of new ones. To provide a solution for the new and growing faults in the systems, designers have been using traditional techniques from safety-critical applications, which offer in general suboptimal results. In fact, modern embedded architectures offer the possibility of optimizing the dependability properties by enabling the interaction of hardware, firmware and software levels in the process. However, that point is not yet successfully achieved. Advances in every level towards that direction are much needed if flexible, robust, resilient and cost effective fault tolerance is desired. The work presented here focuses on the hardware level, with the background consideration of a potential integration into a holistic approach. The efforts in this thesis have focused several issues: (i) to introduce additional fault models as required for adequate representativity of physical effects blooming in modern manufacturing technologies, (ii) to provide tools and methods to efficiently inject both the proposed models and classical ones, (iii) to analyze the optimum method for assessing the robustness of the systems by using extensive fault injection and later correlation with higher level layers in an effort to cut development time and cost, (iv) to provide new detection methodologies to cope with challenges modeled by proposed fault models, (v) to propose mitigation strategies focused towards tackling such new threat scenarios and (vi) to devise an automated methodology for the deployment of many fault tolerance mechanisms in a systematic robust way. The outcomes of the thesis constitute a suite of tools and methods to help the designer of critical systems in his task to develop robust, validated, and on-time designs tailored to his application.[ES] La relevancia que la electrónica adquiere en la seguridad de los productos ha crecido inexorablemente, puesto que cada vez ésta copa una mayor influencia en la funcionalidad de los mismos. Pero, por supuesto, este hecho viene acompañado de una necesidad constante de mayores prestaciones para cumplir con los requerimientos funcionales, al tiempo que se mantienen los costes y el consumo en unos niveles reducidos. En este escenario, la industria está realizando esfuerzos para proveer una tecnología que cumpla con todas las especificaciones de potencia, consumo y precio, a costa de un incremento en la vulnerabilidad a múltiples tipos de fallos conocidos o la introducción de nuevos. Para ofrecer una solución a los fallos nuevos y crecientes en los sistemas, los diseñadores han recurrido a técnicas tradicionalmente asociadas a sistemas críticos para la seguridad, que ofrecen en general resultados sub-óptimos. De hecho, las arquitecturas empotradas modernas ofrecen la posibilidad de optimizar las propiedades de confiabilidad al habilitar la interacción de los niveles de hardware, firmware y software en el proceso. No obstante, ese punto no está resulto todavía. Se necesitan avances en todos los niveles en la mencionada dirección para poder alcanzar los objetivos de una tolerancia a fallos flexible, robusta, resiliente y a bajo coste. El trabajo presentado aquí se centra en el nivel de hardware, con la consideración de fondo de una potencial integración en una estrategia holística. Los esfuerzos de esta tesis se han centrado en los siguientes aspectos: (i) la introducción de modelos de fallo adicionales requeridos para la representación adecuada de efectos físicos surgentes en las tecnologías de manufactura actuales, (ii) la provisión de herramientas y métodos para la inyección eficiente de los modelos propuestos y de los clásicos, (iii) el análisis del método óptimo para estudiar la robustez de sistemas mediante el uso de inyección de fallos extensiva, y la posterior correlación con capas de más alto nivel en un esfuerzo por recortar el tiempo y coste de desarrollo, (iv) la provisión de nuevos métodos de detección para cubrir los retos planteados por los modelos de fallo propuestos, (v) la propuesta de estrategias de mitigación enfocadas hacia el tratamiento de dichos escenarios de amenaza y (vi) la introducción de una metodología automatizada de despliegue de diversos mecanismos de tolerancia a fallos de forma robusta y sistemática. Los resultados de la presente tesis constituyen un conjunto de herramientas y métodos para ayudar al diseñador de sistemas críticos en su tarea de desarrollo de diseños robustos, validados y en tiempo adaptados a su aplicación.[CA] La rellevància que l'electrònica adquireix en la seguretat dels productes ha crescut inexorablement, puix cada volta més aquesta abasta una major influència en la funcionalitat dels mateixos. Però, per descomptat, aquest fet ve acompanyat d'un constant necessitat de majors prestacions per acomplir els requeriments funcionals, mentre es mantenen els costos i consums en uns nivells reduïts. Donat aquest escenari, la indústria està fent esforços per proveir una tecnologia que complisca amb totes les especificacions de potència, consum i preu, tot a costa d'un increment en la vulnerabilitat a diversos tipus de fallades conegudes, i a la introducció de nous tipus. Per oferir una solució a les noves i creixents fallades als sistemes, els dissenyadors han recorregut a tècniques tradicionalment associades a sistemes crítics per a la seguretat, que en general oferixen resultats sub-òptims. De fet, les arquitectures empotrades modernes oferixen la possibilitat d'optimitzar les propietats de confiabilitat en habilitar la interacció dels nivells de hardware, firmware i software en el procés. Tot i això eixe punt no està resolt encara. Es necessiten avanços a tots els nivells en l'esmentada direcció per poder assolir els objectius d'una tolerància a fallades flexible, robusta, resilient i a baix cost. El treball ací presentat se centra en el nivell de hardware, amb la consideració de fons d'una potencial integració en una estratègia holística. Els esforços d'esta tesi s'han centrat en els següents aspectes: (i) la introducció de models de fallada addicionals requerits per a la representació adequada d'efectes físics que apareixen en les tecnologies de fabricació actuals, (ii) la provisió de ferramentes i mètodes per a la injecció eficient del models proposats i dels clàssics, (iii) l'anàlisi del mètode òptim per estudiar la robustesa de sistemes mitjançant l'ús d'injecció de fallades extensiva, i la posterior correlació amb capes de més alt nivell en un esforç per retallar el temps i cost de desenvolupament, (iv) la provisió de nous mètodes de detecció per cobrir els reptes plantejats pels models de fallades proposats, (v) la proposta d'estratègies de mitigació enfocades cap al tractament dels esmentats escenaris d'amenaça i (vi) la introducció d'una metodologia automatitzada de desplegament de diversos mecanismes de tolerància a fallades de forma robusta i sistemàtica. Els resultats de la present tesi constitueixen un conjunt de ferramentes i mètodes per ajudar el dissenyador de sistemes crítics en la seua tasca de desenvolupament de dissenys robustos, validats i a temps adaptats a la seua aplicació.Espinosa García, J. (2016). New Fault Detection, Mitigation and Injection Strategies for Current and Forthcoming Challenges of HW Embedded Designs [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/73146TESISCompendi

Release and Verification of an Operating System for Testing e-Flash on Microcontrollers for Automotive Applications based on Multicore Architecture

The cars produced contain an increasing number of electronic devices for active assistance to driving, safety controls, energy efficiency, passenger comfort and entertainment. Safety is the keyword and means to have electronic components high reliability. Infineon microcontroller division works to improve reliability and guarantee the quality of microcontroller flash memories. The thesis goal is to verify the operating system used to test the microcontrollers flash memorie

Effective techniques for automatically improving the transition delay fault coverage of Self-Test Libraries

International audienceIn-field test of integrated circuits using Self-Test Libraries (STLs) is a widely used technique specifically suited to guarantee the processor’s correct behavior during the operative lifetime, as mandated by functional safety standards such as ISO26262. Developing STLs for stuck-at faults requires significant manual efforts from test engineers, and targeting delay faults is even more challenging. In order to support this process, in this paper we propose a method to automate the creation of STLs targeting delay faults starting from existing STLs targeting stuck-at faults. The method is based first on identifying excited but not-observed transition delay faults and then adding suitable instructions able to detect them. Experimental results on a RISC-V processor show that the method can systematically detect a significant percentage of the target faults with reasonable computational effort and test code size increase