Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems

This document is a self-archiving copy of the accepted version of the paper. Please find the final published version in IEEEXplore: http://dx.doi.org/10.1109/TE.2014.2358551This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. The intended outcome of the lab work is that students become aware of the importance of faulty conditions and learn to design FDD strategies for a real system. To this end, the paper proposes a lab project where students are requested to develop a discrete event dynamic system (DEDS) diagnosis to cope with two faulty conditions in an autonomous mobile robot task. A sample solution is discussed for LEGO Mindstorms NXT robots with LabVIEW. This innovative practice is relevant to higher education engineering courses related to mechatronics, robotics, or DEDS. Results are also given of the application of this strategy as part of a postgraduate course on fault-tolerant mechatronic systems.This work was supported in part by the Spanish CICYT under Project DPI2011-22443

CESEC Chair – Training Embedded System Architects for the Critical Systems Domain

Increasing complexity and interactions across scientific and tech- nological domains in the engineering of critical systems calls for new pedagogical approach. In this paper, we introduce the CESEC teaching chair. This chair aims at supporting new integrative ap- proach for the initial training of engineer and master curriculum to three engineering school in Toulouse: ISAE, INSA Toulouse and INP ENSEEIHT. It is supported by the EADS Corporate Foundation. In this paper, we highlight the rationale for this chair: need for sys- tem architect with strong foundations on technical domains appli- cable to the aerospace industry. We then introduce the ideal profile for this architect and the various pedagogical approaches imple- mented to reach this objective

Multi-Dimensional Model Based Engineering for Performance Critical Computer Systems Using the AADL

International audienceThe Architecture Analysis & Design Language, (AADL), Society of Automotive Engineers (SAE), AS5506, was developed to support quantitative analysis of the runtime architecture of the embedded software system in computer systems with multiple critical operational properties, such as responsiveness, safety-criticality, security, and reliability by allowing a model of the system to be annotated with information relevant to each of these quality concerns and AADL to be extended with analysis-specific properties. It supports modelling of the embedded software runtime architecture, the computer system hardware, and the interface to the physical environment of embedded computer systems and system of systems. It was designed to support a full Model Based Engineering lifecycle including system specification, analysis, system tuning, integration, and upgrade by supporting modelling and analysis at multiple levels of fidelity. A system can be automatically integrated from AADL models when fully specified and when source code is provided for the software components

Using Machine Learning for Anomaly Detection on a System-on-Chip under Gamma Radiation

The emergence of new nanoscale technologies has imposed significant challenges to designing reliable electronic systems in radiation environments. A few types of radiation like Total Ionizing Dose (TID) effects often cause permanent damages on such nanoscale electronic devices, and current state-of-the-art technologies to tackle TID make use of expensive radiation-hardened devices. This paper focuses on a novel and different approach: using machine learning algorithms on consumer electronic level Field Programmable Gate Arrays (FPGAs) to tackle TID effects and monitor them to replace before they stop working. This condition has a research challenge to anticipate when the board results in a total failure due to TID effects. We observed internal measurements of the FPGA boards under gamma radiation and used three different anomaly detection machine learning (ML) algorithms to detect anomalies in the sensor measurements in a gamma-radiated environment. The statistical results show a highly significant relationship between the gamma radiation exposure levels and the board measurements. Moreover, our anomaly detection results have shown that a One-Class Support Vector Machine with Radial Basis Function Kernel has an average Recall score of 0.95. Also, all anomalies can be detected before the boards stop working

Design of an integrated system for on-line test and diagnosis of rotary actuators

In this paper, the design of an on-chip Fault Detection and Diagnosis System for Condition Based Maintenance of electromechanical actuators is presented. The proposed system is based on signal processing algorithms integrated in a customized Application Specific Integrated Circuit (ASIC). The design was synthesized using a 90nm CMOS standard cell library. As a case study, post-synthesis simulations were performed using signals acquired from a real electromechanical valve, using torque and vibration sensors considering both fault-free and defective situations for the actuator. Results show the effectiveness of the system in performing real-time fault detection and identification, with low power consumption and low silicon area utilization

Industrial applications of the Kalman filter:a review

International audienc

Evaluation of a Field Programmable Gate Array Circuit Reconfiguration System

This research implements a circuit reconfiguration system (CRS) to reconfigure a field programmable gate array (FPGA) in response to a faulty configurable logic block (CLB). It is assumed that the location of the fault is known and the CLB is moved according to one of four replacement methods: column left, column right, row up, and row down. Partial reconfiguration of the FPGA is done through the Joint Test Action Group (JTAG) port to produce the desired logic block movement. The time required to accomplish the reconfiguration is measured for each method in both clear and congested areas of the FPGA. The measured data indicate that there is no consistently better replacement method, regardless of the circuit congestion or location within the FPGA. Thus, given a specific location in the FPGA, there is no preferred replacement method that will result in the lowest reconfiguration time

Dependable and Certifiable Real-World Systems – Issue of Software Engineering Education

Embedded software and dedicated hardware are vital elements of the modern world, from personal electronics to transportation, from communication to aerospace, from military to gaming, from medical systems to banking. Combinations of even minor hardware or software defects in a complex system may lead to violation of safety with or even without evident system failure, a major problem that the computing profession faces is the lack of a universal approach to unite the dissimilar viewpoints presented by computer science, with its discrete and mathematical underpinnings, and by computer engineering, which focuses on building real systems and considering spatial and material constraints of space, energy, and time. Modern embedded systems include both viewpoints: microprocessors running software and programmable electronic hardware created with an extensive use of software. The gap between science and engineering approaches is clearly visible in engineering education. This survey paper focuses on exploring the commonalities between building software and building hardware in an attempt to establish a new framework for rejuvenating computing education, specifically software engineering for dependable systems. We present here a perspective on software/hardware relationship, aviation system certification, role of software engineering education, and future directions in computing

Hardware Certification for Real-time Safety-critical Systems: State of the Art

This paper discusses issues related to the RTCA document DO-254 Design Assurance Guidance for Airborne Electronic Hardware and its consequences for hardware certification. In particular, problems related to circuits’ compliance with DO-254 in avionics and other industries are considered. Extensive literature review of the subject is given, including current views on and experiences of chip manufacturers and EDA industry with qualification of hardware design tools, including formal approaches to hardware verification. Some results of the authors’ own study on tool qualification are presented

uCube: control platform for power electronics

This paper presents a versatile tool for development, control and testing of power electronics converters. In the last decade, many different expensive off-the-shelf tools for rapid prototyping and testing have been developed and commercialised by few market players. Recently, the increasing diffusion of low cost, Do It Yourself targeted development tools gained market shares previously controlled by conventional players. This trend has been driven by the fact that, despite their lower performances, many of these low cost systems are powerful enough to develop simple power electronics systems for learning and teaching purposes. This paper describes a control platform developed within the University of Nottingham, targeting at the market and application segment in between the expensive off-the-shelf control boards and the low cost emerging systems. The platform is based on the Microzed evaluation board, equipped with the Xilinx Zynq System-on-Chip. Its flexibility, features and performances will be addressed and examples of how they are being experimentally validated on different rigs will be provided