Control System in Open-Source FPGA for a Self-Balancing Robot

Computing in technological applications is typically performed with software running on general-purpose microprocessors, such as the Computer Processing Unit (CPU), or specific ones, like the Graphical Processing Unit (GPU). Application-Specific Integrated Circuits (ASICs) are an interesting option when speed and reliability are required, but development costs are usually high. Field-Programmable Gate Arrays (FPGA) combine the flexibility of software with the high-speed operation of hardware, and can keep costs low. The dominant FPGA infrastructure is proprietary, but open tools have greatly improved and are a growing trend, from which robotics can benefit. This paper presents a robotics application that was fully developed using open FPGA tools. An inverted pendulum robot was designed, built, and programmed using open FPGA tools, such as IceStudio and the IceZum Alhambra board, which integrates the iCE40HX4K-TQ144 from Lattice. The perception from an inertial sensor is used in a PD control algorithm that commands two DC motors. All the modules were synthesized in an FPGA as a proof of concept. Its experimental validation shows good behavior and performance.This work was partially funded by the Community of Madrid through the RoboCity2030-III project (S2013/MIT-2748) and by the Spanish Ministry of Economy and Competitiveness through the RETOGAR project (TIN2016-76515-R)

Highly Reliable Quadruple-Node Upset-Tolerant D-Latch

This work was supported in part by the Spanish MCIN/AEI /10.13039/501100011033/ FEDER under Grant PID2020-117344RB-I00, and in part by the Regional Government under Grant P20_00265 and Grant P20_00633.As CMOS technology scaling pushes towards the reduction of the length of transistors, electronic circuits face numerous reliability issues, and in particular nodes of D-latches at nano-scale confront multiple-node upset errors due to their operation in harsh radiative environments. In this manuscript, a new high reliable D-latch which can tolerate quadruple-node upsets is presented. The design is based on a low-cost single event double-upset tolerant (LSEDUT) cell and a clock-gating triple-level soft-error interceptive module (CG-SIM). Due to its LSEDUT base, it can tolerate two upsets, but the combination of two LSEDUTs and the triple-level CG-SIM provides the proposed D-latch with remarkable quadruple-node upsets (QNU) tolerance. Applying LSEDUTs for designing a QNU-tolerant D-latch improves considerably its features; in particular, this approach enhances its reliability against process variations, such as threshold voltage and (W/L) transistor variability, compared to previous QNU-tolerant D-latches and double-node-upset tolerant latches. Furthermore, the proposed D-latch not only tolerates QNUs, but it also features a clear advantage in comparison with the previous clock gating-based quadruple-node-upset-tolerant (QNUTL-CG) D-latch: it can mask single event transients. Speci c gures of merit endorse the gains introduced by the new design: compared with the QNUTL-CG D-latch, the improvements of the maximum standard deviations of the gate delay, induced by threshold voltage and (W/L) transistors variability of the proposed D-latch, are 13.8% and 5.7%, respectively. Also, the proposed D-latch has 23% lesser maximum standard deviation in power consumption, resulting from threshold voltage variability, when compared to the QNUTL-CG D-latch.Spanish MCIN/AEI /10.13039/501100011033/ FEDER under Grant PID2020-117344RB-I00Regional Government under Grant P20_00265 and Grant P20_0063

An Innovative Strategy Based on Secure Element for Cyber–Physical Authentication in Safety-Critical Manufacturing Supply Chain

This research has been founded by the European Union’s Horizon 2020 Research and Innovation program under grant agreement No. 871518, a project named, A COmprehensive cyber-intelligence framework for resilient coLLABorative manufacturing Systems, COLLABS [55].The accurate tracking of every production step and related outcome in a supply chain is a stringent requirement in safety-critical sectors such as civil aviation. In such a framework, trusted traceability and accountability can be reliably and securely managed by means of blockchain-based solutions. Unfortunately, blockchain cannot guarantee the provenance and accuracy of the stored information. To overcome such a limitation, this paper proposes a secure solution to strongly rely on the tracking information of the physical assets in the supply chain. The proposed solution exploits Hardware Security Modules (HSMs) to provide required cryptographic primitives through a Near-Field Communication (NFC) connection. In our approach, each transfer of the assets is authenticated, verified, and recorded in the blockchain through the HSM. Transaction entries are signed, thus providing a guarantee of ownership and authenticity. The proposed infrastructure has been subject of an exhaustive security analysis and proved resilient against counterfeiting attempts, stakeholder repudiations, and misleading information.Horizon 2020 Framework Programme 871518 H202

Rule-Based Design for Low-Cost Double-Node Upset Tolerant Self-Recoverable D-Latch

This paper presents a low-cost, self-recoverable, double-node upset tolerant latch aiming at nourishing the lack of these devices in the state of the art, especially featuring self-recoverability while maintaining a low-cost pro le. Thus, this D-latch may be useful for high reliability and high-performance safety-critical applications as it can detect and recover faults happening during holding time in harsh radiation environments. The proposed D-latch design is based on a low-cost single event double-node upset tolerant latch and a rule-based double-node upset (DNU) tolerant latch which provides it with the self-recoverability against DNU, but paired with a low transistor count and high performance. Simulation waveforms support the achievements and demonstrate that this new D-latch is fully self-recoverable against double-node upset. In addition, the minimum improvement of the delay-power-area product of the proposed rule-based design for the low-cost DNU tolerant self-recoverable latch (RB-LDNUR) is 59%, compared with the latest DNU self-recoverable latch on the literature.Spanish Government MCIN/AEI/10.13039/501100011033/FEDER PID2020-117344RB-I00Regional Government P20_00265 P20_00633 B-RNM-680-UGR2

Blockchain-Based Services Implemented in a Microservices Architecture Using a Trusted Platform Module Applied to Electric Vehicle Charging Stations

Microservice architectures exploit container-based virtualized services, which rarely use hardware-based cryptography. A trusted platform module (TPM) offers a hardware root for trust in services that makes use of cryptographic operations. The virtualization of this hardware module offers high usability for other types of service that require TPM functionalities. This paper proposes the design of TPM virtualization in a container. To ensure integrity, different mechanisms, such as attestation and sealing, have been developed for the binaries and libraries stored in the container volumes. Through a REST API, the container offers the functionalities of a TPM, such as key generation and signing. To prevent unauthorized access to the container, this article proposes an authentication mechanism based on tokens issued by the Cognito Amazon Web Service. As a proof of concept and applicability in industry, a use case for electric vehicle charging stations using a microservice-based architecture is proposed. Using the EOS.IO blockchain to maintain a copy of the data, the virtualized TPM microservice provides the cryptographic operations necessary for blockchain transactions. Through a two-factor authentication mechanism, users can access the data. This scenario shows the potential of using blockchain technologies in microservice-based architectures, where microservices such as the virtualized TPM fill a security gap in these architectures.Infineon TechnologiesProgram “Digitalisierung der EnergiewendeBundesministeriums für Wirtschaft und EnergieTrusted Blockchains fur das offene, intelligente Energienetz der Zukunft (tbiEnergy)FKZ 03EI6029DEuropean Health and Digital Executive Agency (HaDEA) program under Grant Agreement No 101092950 (EDGELESS project)FEDER/Junta de Andalucia-Consejeria de Transformacion Economica, Industria, Conocimiento y Universidades under Project B-TIC-588-UGR20

Low-Cost Soft Error Robust Hardened D-Latch for CMOS Technology Circuit

In this paper, a Soft Error Hardened D-latch with improved performance is proposed, also featuring Single Event Upset (SEU) and Single Event Transient (SET) immunity. This novel D-latch can tolerate particles as charge injection in different internal nodes, as well as the input and output nodes. The performance of the new circuit has been assessed through different key parameters, such as power consumption, delay, Power-Delay Product (PDP) at various frequencies, voltage, temperature, and process variations. A set of simulations has been set up to benchmark the new proposed D-latch in comparison to previous D-latches, such as the Static D-latch, TPDICE-based D-latch, LSEH-1 and DICE D-latches. A comparison between these simulations proves that the proposed D-latch not only has a better immunity, but also features lower power consumption, delay, PDP, and area footprint. Moreover, the impact of temperature and process variations, such as aspect ratio (W/L) and threshold voltage transistor variability, on the proposed D-latch with regard to previous D-latches is investigated. Specifically, the delay and PDP of the proposed D-latch improves by 60.3% and 3.67%, respectively, when compared to the reference Static D-latch. Furthermore, the standard deviation of the threshold voltage transistor variability impact on the delay improved by 3.2%, while its impact on the power consumption improves by 9.1%. Finally, it is shown that the standard deviation of the (W/L) transistor variability on the power consumption is improved by 56.2%

Integration of Hardware Security Modules and Permissioned Blockchain in Industrial IoT Networks

Hardware Security Modules (HSM) serve as a hardware based root of trust that offers physical protection while adding a new security layer in the system architecture. When combined with decentralized access technologies as Blockchain, HSM offers robustness and complete reliability enabling secured end-toend mechanisms for authenticity, authorization and integrity. This work proposes an ef cient integration of HSM and Blockchain technologies focusing on, mainly, public-key cryptography algorithms and standards, that result crucial in order to achieve a successful combination of the mentioned technologies to improve the overall security in Industrial IoT systems. To prove the suitability of the proposal and the interaction of an IoT node and a Blockchain network using HSM a proof of concept is developed. Results of time performance analysis of the prototype reveal how promising the combination of HSMs in Blockchain environments is.Infineon Technologies AGEuropean Union's Horizon 2020 Research and Innovation Program through the Cyber Security 4.0: Protecting the Industrial Internet of Things (C4IIoT) 833828FEDER/Junta de Andalucia-Consejeria de Transformacion Economica, Industria, Conocimiento y Universidades B-TIC-588-UGR2

Table-Free Seed Generation for Hardware Newton–Raphson Square Root and Inverse Square Root Implementations in IoT Devices

Consejeríaa de Economía y Conocimiento de la Junta de Andalucía y el Fondo Europeo de Desarrollo Regional (FEDER) bajo el proyecto B-TIC-588-UGR2

Adaptative ECT System Based on Reconfigurable Electronics

In this work we present a novel scheme for the design of electrical capacitance tomography systems that is based on the use of reconfigurable electronics. The objective of this strategy is to generate an adaptable and portable prototype for the processing electronics, i.e., an instrument suitable to be easily transported and applied to different ECT sensors and scenarios with no need of hardware redesign. In order to show the benefits of this approach, a prototype of the processing electronics for the readings of the inter-electrode capacitance values has been implemented using a Programmable System on Chip (PSoC) that allows configuring both analog and digital blocks included in the design. The result is a compact and portable instrument that can work with any ECT sensor up to 8 electrodes. The measurements are sent through a wireless Bluetooth link to an external smart-device such as smartphone, where the permittivity distribution is reconstructed using a custom-developed Android application.Junta de Andalucía (University Professor and Researcher Training Program – FPDI grant)EI BIOTiC under project MPTIC1

Cost-effective printed electrodes based on emerging materials applied to biosignal acquisition

In this paper flexible printed electrodes applicable to wearable electronics are presented. Using innovative materials as Laser Induced Graphene (LIG) and printed electronics, three type of electrodes based in LIG, silver chloride and carbon inks have been compared during the acquisition of bipotentials as electrocardiogram, electromyogram and electrooculogram. For this last one, a completely new framework for acquisition have been developed. This framework is based in a printed patch which integers 6 electrodes for the EOG acquisitions and an ad-hoc signal processing to detect the direction and amplitude of the eye movement. The performance of the developed electrodes have been compared with commercial ones using the characteristics parameters of each signal as comparative variables. The results obtained for the flexible electrodes have shown a similar performance than the commercial electrodes with an improvement in the comfort of the user.Spanish Ministry of Education, Culture and Sport (MECD)/FEDER-EU TEC2017-89955-P FPU16/01451 FPU18/01376BBVA FoundationUniversity of Granad