Self-engineering – Technological Challenges

Engineered products are becoming more complex and need longer lifetime availability; there is a need for new approaches in maintaining, repairing and overhaul (MRO). This paper presents the concept of self-engineering; the aim is to preserve the functions of a product or system and extend its lifetime and automate MRO processes. New developments in self-healing materials, self-reconfiguring electronics and robotics, which are already or could be self-engineering systems, are reviewed. Biological healing and repair mechanisms are discussed as a potential source of inspiration for new self-engineering systems. Examples of biological self-engineering are presented. Key technological challenges and research questions which need to be addressed in future self-engineering research are discussed throughout

Homeostatic Fault Tolerance in Spiking Neural Networks : A Dynamic Hardware Perspective

Fault tolerance is a remarkable feature of biological systems and their self-repair capability influence modern electronic systems. In this paper, we propose a novel plastic neural network model, which establishes homeostasis in a spiking neural network. Combined with this plasticity and the inspiration from inhibitory interneurons, we develop a fault-resilient robotic controller implemented on an FPGA establishing obstacle avoidance task. We demonstrate the proposed methodology on a spiking neural network implemented on Xilinx Artix-7 FPGA. The system is able to maintain stable firing (tolerance ±10%) with a loss of up to 75% of the original synaptic inputs to a neuron. Our repair mechanism has minimal hardware overhead with a tuning circuit (repair unit) which consumes only three slices/neuron for implementing a threshold voltage-based homeostatic fault-tolerant unit. The overall architecture has a minimal impact on power consumption and, therefore, supports scalable implementations. This paper opens a novel way of implementing the behavior of natural fault tolerant system in hardware establishing homeostatic self-repair behavior

A Global optimization stochastic algorithm for head motion stabilization during quadruped robot locomotion

Visually-guided locomotion is important for autonomous robotics. However, there are several di culties, for instance, the robot locomotion induces head shaking that constraints stable image acquisition and the possibility to rely on that information to act accordingly. In this work, we propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a genetic algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows to explicitly specify parameters such as ampli- tude, o set and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. Thus, in order to achieve the desired head movement, opposed to the one induced by locomotion, it is necessary to appropriately tune the CPG parameters. Since this is a non-linear and non-convex optimization problem, the tuning of CPG parameters is achieved by using a global optimization method. The genetic algorithm searches for the best set of parameters that generates the head movement in order to reduce the head shaking caused by locomotion. Optimization is done o ine according to the head movement induced by the locomotion when no stabilization procedure was performed. In order to evaluate the resulting head movement, a tness function based on the Euclidian norm is investigated. Moreover, a constraint handling technique based on tournament selection was im- plemented. Experimental results on a simulated AIBO robot demonstrate that the proposed approach generates head movement that reduces signi cantly the one induced by locomotion

New Design Techniques for Dynamic Reconfigurable Architectures

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

Lunar Surface Systems Supportability Technology Development Roadmap

The Lunar Surface Systems Supportability Technology Development Roadmap is a guide for developing the technologies needed to enable the supportable, sustainable, and affordable exploration of the Moon and other destinations beyond Earth. Supportability is defined in terms of space maintenance, repair, and related logistics. This report considers the supportability lessons learned from NASA and the Department of Defense. Lunar Outpost supportability needs are summarized, and a supportability technology strategy is established to make the transition from high logistics dependence to logistics independence. This strategy will enable flight crews to act effectively to respond to problems and exploit opportunities in an environment of extreme resource scarcity and isolation. The supportability roadmap defines the general technology selection criteria. Technologies are organized into three categories: diagnostics, test, and verification; maintenance and repair; and scavenge and recycle. Furthermore, "embedded technologies" and "process technologies" are used to designate distinct technology types with different development cycles. The roadmap examines the current technology readiness level and lays out a four-phase incremental development schedule with selection decision gates. The supportability technology roadmap is intended to develop technologies with the widest possible capability and utility while minimizing the impact on crew time and training and remaining within the time and cost constraints of the program

Proposal of an Adaptive Fault Tolerance Mechanism to Tolerate Intermittent Faults in RAM

[EN] Due to transistor shrinking, intermittent faults are a major concern in current digital systems. This work presents an adaptive fault tolerance mechanism based on error correction codes (ECC), able to modify its behavior when the error conditions change without increasing the redundancy. As a case example, we have designed a mechanism that can detect intermittent faults and swap from an initial generic ECC to a specific ECC capable of tolerating one intermittent fault. We have inserted the mechanism in the memory system of a 32-bit RISC processor and validated it by using VHDL simulation-based fault injection. We have used two (39, 32) codes: a single error correction-double error detection (SEC-DED) and a code developed by our research group, called EPB3932, capable of correcting single errors and double and triple adjacent errors that include a bit previously tagged as error-prone. The results of injecting transient, intermittent, and combinations of intermittent and transient faults show that the proposed mechanism works properly. As an example, the percentage of failures and latent errors is 0% when injecting a triple adjacent fault after an intermittent stuck-at fault. We have synthesized the adaptive fault tolerance mechanism proposed in two types of FPGAs: non-reconfigurable and partially reconfigurable. In both cases, the overhead introduced is affordable in terms of hardware, time and power consumption.This research was supported in part by the Spanish Government, project TIN2016-81,075-R, and by Primeros Proyectos de Investigacion (PAID-06-18), Vicerrectorado de Investigacion, Innovacion y Transferencia de la Universitat Politecnica de Valencia (UPV), project 20190032.Baraza Calvo, JC.; Gracia-Morán, J.; Saiz-Adalid, L.; Gil Tomás, DA.; Gil, P. (2020). Proposal of an Adaptive Fault Tolerance Mechanism to Tolerate Intermittent Faults in RAM. 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ACM SIGPLAN Notices, 47(4), 111-122. doi:10.1145/2248487.2150989Gil-Tomás, D., Gracia-Morán, J., Baraza-Calvo, J.-C., Saiz-Adalid, L.-J., & Gil-Vicente, P.-J. (2012). Studying the effects of intermittent faults on a microcontroller. Microelectronics Reliability, 52(11), 2837-2846. doi:10.1016/j.microrel.2012.06.004Plasma CPU Modelhttps://opencores.org/projects/plasmaArlat, J., Aguera, M., Amat, L., Crouzet, Y., Fabre, J.-C., Laprie, J.-C., … Powell, D. (1990). Fault injection for dependability validation: a methodology and some applications. IEEE Transactions on Software Engineering, 16(2), 166-182. doi:10.1109/32.44380Gil-Tomas, D., Gracia-Moran, J., Baraza-Calvo, J.-C., Saiz-Adalid, L.-J., & Gil-Vicente, P.-J. (2012). Analyzing the Impact of Intermittent Faults on Microprocessors Applying Fault Injection. IEEE Design & Test of Computers, 29(6), 66-73. doi:10.1109/mdt.2011.2179514Rashid, L., Pattabiraman, K., & Gopalakrishnan, S. (2010). Modeling the Propagation of Intermittent Hardware Faults in Programs. 2010 IEEE 16th Pacific Rim International Symposium on Dependable Computing. doi:10.1109/prdc.2010.52Amiri, M., Siddiqui, F. M., Kelly, C., Woods, R., Rafferty, K., & Bardak, B. (2016). FPGA-Based Soft-Core Processors for Image Processing Applications. Journal of Signal Processing Systems, 87(1), 139-156. doi:10.1007/s11265-016-1185-7Hailesellasie, M., Hasan, S. R., & Mohamed, O. A. (2019). MulMapper: Towards an Automated FPGA-Based CNN Processor Generator Based on a Dynamic Design Space Exploration. 2019 IEEE International Symposium on Circuits and Systems (ISCAS). doi:10.1109/iscas.2019.8702589Mittal, S. (2018). A survey of FPGA-based accelerators for convolutional neural networks. Neural Computing and Applications, 32(4), 1109-1139. doi:10.1007/s00521-018-3761-1Intel Completes Acquisition of Alterahttps://newsroom.intel.com/news-releases/intel-completes-acquisition-of-altera/#gs.mi6ujuAMD to Acquire Xilinx, Creating the Industry’s High Performance Computing Leaderhttps://www.amd.com/en/press-releases/2020-10-27-amd-to-acquire-xilinx-creating-the-industry-s-high-performance-computingKim, K. H., & Lawrence, T. F. (s. f.). Adaptive fault tolerance: issues and approaches. [1990] Proceedings. Second IEEE Workshop on Future Trends of Distributed Computing Systems. doi:10.1109/ftdcs.1990.138292Gonzalez, O., Shrikumar, H., Stankovic, J. A., & Ramamritham, K. (s. f.). Adaptive fault tolerance and graceful degradation under dynamic hard real-time scheduling. Proceedings Real-Time Systems Symposium. doi:10.1109/real.1997.641271Jacobs, A., George, A. D., & Cieslewski, G. (2009). Reconfigurable fault tolerance: A framework for environmentally adaptive fault mitigation in space. 2009 International Conference on Field Programmable Logic and Applications. doi:10.1109/fpl.2009.5272313Shin, D., Park, J., Park, J., Paul, S., & Bhunia, S. (2017). Adaptive ECC for Tailored Protection of Nanoscale Memory. IEEE Design & Test, 34(6), 84-93. doi:10.1109/mdat.2016.2615844Silva, F., Muniz, A., Silveira, J., & Marcon, C. (2020). CLC-A: An Adaptive Implementation of the Column Line Code (CLC) ECC. 2020 33rd Symposium on Integrated Circuits and Systems Design (SBCCI). doi:10.1109/sbcci50935.2020.9189901Mukherjee, S. S., Emer, J., Fossum, T., & Reinhardt, S. K. (s. f.). Cache scrubbing in microprocessors: myth or necessity? 10th IEEE Pacific Rim International Symposium on Dependable Computing, 2004. Proceedings. doi:10.1109/prdc.2004.1276550Saleh, A. M., Serrano, J. J., & Patel, J. H. (1990). Reliability of scrubbing recovery-techniques for memory systems. 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Reliability-Based ECC System for Adaptive Protection of NAND Flash Memories. 2015 Fifth International Conference on Communication Systems and Network Technologies. doi:10.1109/csnt.2015.23Zhou, Y., Wu, F., Lu, Z., He, X., Huang, P., & Xie, C. (2019). SCORE. ACM Transactions on Architecture and Code Optimization, 15(4), 1-25. doi:10.1145/3291052Lu, S.-K., Li, H.-P., & Miyase, K. (2018). Adaptive ECC Techniques for Reliability and Yield Enhancement of Phase Change Memory. 2018 IEEE 24th International Symposium on On-Line Testing And Robust System Design (IOLTS). doi:10.1109/iolts.2018.8474118Chen, J., Andjelkovic, M., Simevski, A., Li, Y., Skoncej, P., & Krstic, M. (2019). Design of SRAM-Based Low-Cost SEU Monitor for Self-Adaptive Multiprocessing Systems. 2019 22nd Euromicro Conference on Digital System Design (DSD). doi:10.1109/dsd.2019.00080Wang, X., Jiang, L., & Chakrabarty, K. (2020). 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Fault tolerant control for nonlinear aircraft based on feedback linearization

The thesis concerns the fault tolerant flight control (FTFC) problem for nonlinear aircraft by making use of analytical redundancy. Considering initially fault-free flight, the feedback linearization theory plays an important role to provide a baseline control approach for de-coupling and stabilizing a non-linear statically unstable aircraft system. Then several reconfigurable control strategies are studied to provide further robust control performance:- A neural network (NN)-based adaption mechanism is used to develop reconfigurable FTFC performance through the combination of a concurrent updated learninglaw. - The combined feedback linearization and NN adaptor FTFC system is further improved through the use of a sliding mode control (SMC) strategy to enhance the convergence of the NN learning adaptor. - An approach to simultaneous estimation of both state and fault signals is incorporated within an active FTFC system.The faults acting independently on the three primary actuators of the nonlinear aircraft are compensated in the control system.The theoretical ideas developed in the thesis have been applied to the nonlinear Machan Unmanned Aerial Vehicle (UAV) system. The simulation results obtained from a tracking control system demonstrate the improved fault tolerant performance for all the presented control schemes, validated under various faults and disturbance scenarios.A Boeing 747 nonlinear benchmark model, developed within the framework of the GARTEUR FM-AG 16 project “fault tolerant flight control systems”,is used for the purpose of further simulation study and testing of the FTFC scheme developed by making the combined use of concurrent learning NN and SMC theory. The simulation results under the given fault scenario show a promising reconfiguration performance

Embedded electronic systems driven by run-time reconfigurable hardware

Abstract This doctoral thesis addresses the design of embedded electronic systems based on run-time reconfigurable hardware technology –available through SRAM-based FPGA/SoC devices– aimed at contributing to enhance the life quality of the human beings. This work does research on the conception of the system architecture and the reconfiguration engine that provides to the FPGA the capability of dynamic partial reconfiguration in order to synthesize, by means of hardware/software co-design, a given application partitioned in processing tasks which are multiplexed in time and space, optimizing thus its physical implementation –silicon area, processing time, complexity, flexibility, functional density, cost and power consumption– in comparison with other alternatives based on static hardware (MCU, DSP, GPU, ASSP, ASIC, etc.). The design flow of such technology is evaluated through the prototyping of several engineering applications (control systems, mathematical coprocessors, complex image processors, etc.), showing a high enough level of maturity for its exploitation in the industry.Resumen Esta tesis doctoral abarca el diseño de sistemas electrónicos embebidos basados en tecnología hardware dinámicamente reconfigurable –disponible a través de dispositivos lógicos programables SRAM FPGA/SoC– que contribuyan a la mejora de la calidad de vida de la sociedad. Se investiga la arquitectura del sistema y del motor de reconfiguración que proporcione a la FPGA la capacidad de reconfiguración dinámica parcial de sus recursos programables, con objeto de sintetizar, mediante codiseño hardware/software, una determinada aplicación particionada en tareas multiplexadas en tiempo y en espacio, optimizando así su implementación física –área de silicio, tiempo de procesado, complejidad, flexibilidad, densidad funcional, coste y potencia disipada– comparada con otras alternativas basadas en hardware estático (MCU, DSP, GPU, ASSP, ASIC, etc.). Se evalúa el flujo de diseño de dicha tecnología a través del prototipado de varias aplicaciones de ingeniería (sistemas de control, coprocesadores aritméticos, procesadores de imagen, etc.), evidenciando un nivel de madurez viable ya para su explotación en la industria.Resum Aquesta tesi doctoral està orientada al disseny de sistemes electrònics empotrats basats en tecnologia hardware dinàmicament reconfigurable –disponible mitjançant dispositius lògics programables SRAM FPGA/SoC– que contribueixin a la millora de la qualitat de vida de la societat. S’investiga l’arquitectura del sistema i del motor de reconfiguració que proporcioni a la FPGA la capacitat de reconfiguració dinàmica parcial dels seus recursos programables, amb l’objectiu de sintetitzar, mitjançant codisseny hardware/software, una determinada aplicació particionada en tasques multiplexades en temps i en espai, optimizant així la seva implementació física –àrea de silici, temps de processat, complexitat, flexibilitat, densitat funcional, cost i potència dissipada– comparada amb altres alternatives basades en hardware estàtic (MCU, DSP, GPU, ASSP, ASIC, etc.). S’evalúa el fluxe de disseny d’aquesta tecnologia a través del prototipat de varies aplicacions d’enginyeria (sistemes de control, coprocessadors aritmètics, processadors d’imatge, etc.), demostrant un nivell de maduresa viable ja per a la seva explotació a la indústria