Presentazione della Maker Revolution, stampa 3D e Big Data per gli studenti della scuola secondar... more Presentazione della Maker Revolution, stampa 3D e Big Data per gli studenti della scuola secondaria di primo grado.
Concetti di base sulla robotica per gli alunni della scuola secondaria di primo grado.
Pagina ... more Concetti di base sulla robotica per gli alunni della scuola secondaria di primo grado.
Una breve introduzione su come programmare: i sistemi embedded in generale e i robot in particola... more Una breve introduzione su come programmare: i sistemi embedded in generale e i robot in particolare, ricordando sempre che: - non si può controllare quello che non si può misurare - non si può misurare quello che non si può modellizzare - non si può modellizzare quello che non si conosce.
Diapositive di introduzione alla programmazione di un robot mobile tramite tecnica differential d... more Diapositive di introduzione alla programmazione di un robot mobile tramite tecnica differential drive per gli alunni delle scuole secondarie di primo grado.
Diapositive di introduzione alla computer vision per gli alunni delle scuole secondarie di primo ... more Diapositive di introduzione alla computer vision per gli alunni delle scuole secondarie di primo grado.
Diapositive di introduzione alla programmazione del robot LEGO Mindstorm NXT per gli alunni delle... more Diapositive di introduzione alla programmazione del robot LEGO Mindstorm NXT per gli alunni delle scuole secondarie di primo grado.
A common requirement of embedded software in charge of safety tasks is to guarantee the identific... more A common requirement of embedded software in charge of safety tasks is to guarantee the identification of random hardware failures (RHFs) that can affect digital components. RHFs are unavoidable. For this reason, the functional safety standard devoted to automotive applications requires embedded software designs able to detect and eventually mitigate them. For this purpose, various software-based error detection techniques have been proposed over the years, focusing mainly on detecting control flow errors. Many control flow checking (CFC) algorithms have been proposed to accomplish this task. However, applying these approaches can be difficult because their respective literature gives little guidance on their practical implementation in high-level programming languages, and they have to be implemented in low-level code, e.g., assembly. Moreover, the current trend in the automotive industry is to adopt the so-called model-based software design approach, where an executable algorithm ...
A common requirement of embedded software in charge of safety tasks is to guarantee the identific... more A common requirement of embedded software in charge of safety tasks is to guarantee the identification of those Random Hardware Failures (RHFs) that can affect digital components. RHFs are unavoidable. For this reason, functional safety standards, like the ISO 26262 devoted to automotive applications, require embedded software designs able to detect and eventually mitigate them. For this purpose, various software-based error detection techniques have been proposed over the years, focusing mainly on detecting Control Flow Errors. Many Control Flow Checking (CFC) algorithms have been proposed to accomplish this task. However, applying these approaches can be difficult because their respective literature gives little guidance on the their practical implementation in high-level programming languages, and they have to be implemented in low-level code, e.g., assembly. Moreover, the current trend in the automotive industry is to adopt the so-called Model-Based Software Design approach, whe...
2018 IEEE 24th International Symposium on On-Line Testing And Robust System Design (IOLTS)
Electronic control units have a central role in almost all the function of road vehicles. Some of... more Electronic control units have a central role in almost all the function of road vehicles. Some of these functions are safety critical so, during their development, it is requested by standards, like ISO 26262, to follow strict design rules and to perform in-depth verification steps. One of the technique recommended during the hardware design process is the failure mode, effect and diagnostic analysis (FMEDA). In industrial practice, this technique is manually applied by the designer by inspecting the circuit schematics, but in this way, the process is error-prone and make it difficult to take in proper consideration the contribution of the embedded software. In literature, it is possible to find some attempts to automate the FMEDA process. This article discusses a novel approach that allows reducing the time needed to perform FMEA and improving the quality of the achieved results.
Mechatronic systems, like mobile robots, are fairly complex. They are composed of electromechanic... more Mechatronic systems, like mobile robots, are fairly complex. They are composed of electromechanical actuation components and sensing elements supervised by microcontrollers running complex embedded software. This paper proposes a novel approach to aid mobile robotics developers in adopting a rigorous development process to design and verify the robot’s detection and mitigation capabilities against random hardware failures affecting its sensors or actuators. Unfortunately, assessing the interactions between the various safety/mission-critical subsystem is quite complex. The failure mode effect analysis (FMEA) alongside an analysis of the failure detection capabilities (FMEDA) are the state-of-the-art methodologies for performing such an analysis. Various guidelines are available, and the authors decided to follow the one released by AIAG&VDA in June 2019. Since the robot’s behavior is based on embedded software, the FMEA has been integrated with the hardware/software interaction anal...
Presentazione della Maker Revolution, stampa 3D e Big Data per gli studenti della scuola secondar... more Presentazione della Maker Revolution, stampa 3D e Big Data per gli studenti della scuola secondaria di primo grado.
Concetti di base sulla robotica per gli alunni della scuola secondaria di primo grado.
Pagina ... more Concetti di base sulla robotica per gli alunni della scuola secondaria di primo grado.
Una breve introduzione su come programmare: i sistemi embedded in generale e i robot in particola... more Una breve introduzione su come programmare: i sistemi embedded in generale e i robot in particolare, ricordando sempre che: - non si può controllare quello che non si può misurare - non si può misurare quello che non si può modellizzare - non si può modellizzare quello che non si conosce.
Diapositive di introduzione alla programmazione di un robot mobile tramite tecnica differential d... more Diapositive di introduzione alla programmazione di un robot mobile tramite tecnica differential drive per gli alunni delle scuole secondarie di primo grado.
Diapositive di introduzione alla computer vision per gli alunni delle scuole secondarie di primo ... more Diapositive di introduzione alla computer vision per gli alunni delle scuole secondarie di primo grado.
Diapositive di introduzione alla programmazione del robot LEGO Mindstorm NXT per gli alunni delle... more Diapositive di introduzione alla programmazione del robot LEGO Mindstorm NXT per gli alunni delle scuole secondarie di primo grado.
A common requirement of embedded software in charge of safety tasks is to guarantee the identific... more A common requirement of embedded software in charge of safety tasks is to guarantee the identification of random hardware failures (RHFs) that can affect digital components. RHFs are unavoidable. For this reason, the functional safety standard devoted to automotive applications requires embedded software designs able to detect and eventually mitigate them. For this purpose, various software-based error detection techniques have been proposed over the years, focusing mainly on detecting control flow errors. Many control flow checking (CFC) algorithms have been proposed to accomplish this task. However, applying these approaches can be difficult because their respective literature gives little guidance on their practical implementation in high-level programming languages, and they have to be implemented in low-level code, e.g., assembly. Moreover, the current trend in the automotive industry is to adopt the so-called model-based software design approach, where an executable algorithm ...
A common requirement of embedded software in charge of safety tasks is to guarantee the identific... more A common requirement of embedded software in charge of safety tasks is to guarantee the identification of those Random Hardware Failures (RHFs) that can affect digital components. RHFs are unavoidable. For this reason, functional safety standards, like the ISO 26262 devoted to automotive applications, require embedded software designs able to detect and eventually mitigate them. For this purpose, various software-based error detection techniques have been proposed over the years, focusing mainly on detecting Control Flow Errors. Many Control Flow Checking (CFC) algorithms have been proposed to accomplish this task. However, applying these approaches can be difficult because their respective literature gives little guidance on the their practical implementation in high-level programming languages, and they have to be implemented in low-level code, e.g., assembly. Moreover, the current trend in the automotive industry is to adopt the so-called Model-Based Software Design approach, whe...
2018 IEEE 24th International Symposium on On-Line Testing And Robust System Design (IOLTS)
Electronic control units have a central role in almost all the function of road vehicles. Some of... more Electronic control units have a central role in almost all the function of road vehicles. Some of these functions are safety critical so, during their development, it is requested by standards, like ISO 26262, to follow strict design rules and to perform in-depth verification steps. One of the technique recommended during the hardware design process is the failure mode, effect and diagnostic analysis (FMEDA). In industrial practice, this technique is manually applied by the designer by inspecting the circuit schematics, but in this way, the process is error-prone and make it difficult to take in proper consideration the contribution of the embedded software. In literature, it is possible to find some attempts to automate the FMEDA process. This article discusses a novel approach that allows reducing the time needed to perform FMEA and improving the quality of the achieved results.
Mechatronic systems, like mobile robots, are fairly complex. They are composed of electromechanic... more Mechatronic systems, like mobile robots, are fairly complex. They are composed of electromechanical actuation components and sensing elements supervised by microcontrollers running complex embedded software. This paper proposes a novel approach to aid mobile robotics developers in adopting a rigorous development process to design and verify the robot’s detection and mitigation capabilities against random hardware failures affecting its sensors or actuators. Unfortunately, assessing the interactions between the various safety/mission-critical subsystem is quite complex. The failure mode effect analysis (FMEA) alongside an analysis of the failure detection capabilities (FMEDA) are the state-of-the-art methodologies for performing such an analysis. Various guidelines are available, and the authors decided to follow the one released by AIAG&VDA in June 2019. Since the robot’s behavior is based on embedded software, the FMEA has been integrated with the hardware/software interaction anal...
The increasing demand for Electronic Control Units able to perform safety-relevant tasks leads th... more The increasing demand for Electronic Control Units able to perform safety-relevant tasks leads the automotive industry to find novel verification methodologies, capable to decrease the time-to-market and, at the same time, to improve the quality of the assessment. The ISO26262:2018 automotive functional safety standard requires to follow a strict development process, compliant with its “safety lifecycle”. It includes all the phases of the item life, from the concept to the decommissioning. The phase that places most difficulties about its objectivity and repeatability is the hardware/software integration verification since, usually, the software is in charge to mitigate the effects of some possible hardware failures. This paper proposes a novel technique, based on a simulation-based approach, to aid the designers during the Failure Mode, Effect, and Diagnostic Analysis (FMEDA). We consider a power electronics module, to be embedded into electric vehicles powertrains, as a challenging practical example. We performed some tests on it, considering a rear traction car with two independent electric motors, one per each wheel. This system, to allow the vehicle to curve, has to act like a differential gear. Hence, it has a strong safety impact on the driveability of the car. All the involved components have been simulated propagating their behaviours up to the entire vehicle. Due the strong coupling between item failures and vehicle dynamics, a structured way based on coupling fault injection with vehicle dynamic simulation is desirable.
This paper describes a novel approach to assess detection mechanisms and their diagnostic coverag... more This paper describes a novel approach to assess detection mechanisms and their diagnostic coverage, implemented using embedded software, designed to identify random hardware failures affecting digital components. In the literature, many proposals adopting fault injection methods are available, with most of them focusing on transient faults and not considering the functional safety standards requirements. This kind of proposal can benefit developers involved in the automotive market, where strict safety and cost requirements make the adoption of software-only strategies convenient. Hence, we have focused our efforts on compliance with the ISO 26262 automotive functional safety standard. The approach concerns permanent faults affecting microcontrollers and it provides a mapping between the failure mode described in part 11 of the Standard and the chosen fault models. We propose a test bench designed to inject permanent failures into an emulated microcontroller and determine which of t...
Teaching is an activity that requires understanding the class’s reaction to evaluate the teaching... more Teaching is an activity that requires understanding the class’s reaction to evaluate the teaching methodology effectiveness. This operation can be easy to achieve in small classrooms, while it may be challenging to do in classes of 50 or more students. This paper proposes a novel Internet of Things (IoT) system to aid teachers in their work based on the redundant use of non-invasive techniques such as facial expression recognition and physiological data analysis. Facial expression recognition is performed using a Convolutional Neural Network (CNN), while physiological data are obtained via Photoplethysmography (PPG). By recurring to Russel’s model, we grouped the most important Ekman’s facial expressions recognized by CNN into active and passive. Then, operations such as thresholding and windowing were performed to make it possible to compare and analyze the results from both sources. Using a window size of 100 samples, both sources have detected a level of attention of about 55.5% ...
2017 18th IEEE Latin American Test Symposium (LATS), 2017
With the increasing adoption of embedded systems in critical automotive applications, the verific... more With the increasing adoption of embedded systems in critical automotive applications, the verification of hardware designs reliability is becoming a strictly regulated process where the ISO26262 standard plays a key role. Today crucial verification activities such as failure analysis and FMEA are still relying heavily on reliability engineer expertise, as automatic methods supporting them are still lacking. In this paper, we introduce a novel approach that allows to automatically perform failure analysis considering the hardware schematic of the item under analysis, or safety-element-out-of-context, and a behavioral model of the software the hardware executes. An automotive case study is presented to illustrate the approach, and some preliminary results are discussed.
Thirteenth International Conference on Machine Vision, 2021
For some years now, the idea of a fully autonomous driving car has been monopolizing the attentio... more For some years now, the idea of a fully autonomous driving car has been monopolizing the attention of the entire automotive sector. The main motivation behind all this interest is that autonomous driving cars could potentially improve road safety simply by subtracting human error, which causes thousands of road fatalities worldwide every year. One of the biggest challenges, for which researchers are working hard to give answers, concerns the search of solutions to improve the people’s response to this vehicles once they are put on the road: an incorrect answer can lead to their unsuccess, with a great monetary loss for all the companies that have invested in these technologies. Recently, we worked on a project that went in this direction and which regarded the possibility to change the driving style of the autonomous driving cars based on the passengers’ facial expressions. This is particularly useful in the event that they experience fear: the car may react to these feelings by adopting a careful driving style and stopping if these feelings do not improve within a certain period. In this paper, we want to discuss about the improvements we have made to this project.
2018 13th International Conference on Design & Technology of Integrated Systems In Nanoscale Era (DTIS), 2018
Software is today dominating the development of novel automotive applications, and it is more and... more Software is today dominating the development of novel automotive applications, and it is more and more responsible for critical functionalities, from battery management in hybrid vehicles to active safety, to autonomous driving. To guarantee the proper level of quality a strict development process such as that described in the ISO26262 shall be adopted, which requires intensive test activities, being integration test one of them. To successfully reach the goals of integration test, testers shall excite the software running on the target hardware with stimuli representative of those produced once the design under test (DUT) is integrated in the vehicle, and observe the produced response looking for deviations with respect to the expected outputs. In this paper, we propose an innovative approach to automate the test stimuli generation, application, and output response evaluation, making possible developing higher quality test with respect to a relevant industrial use case.
2018 IEEE 19th Latin-American Test Symposium (LATS), 2018
Hardware-in-the-loop (HIL) is a well-known technique employed by many industries to perform funct... more Hardware-in-the-loop (HIL) is a well-known technique employed by many industries to perform functional testing of safety-or mission-critical systems. Current avionic applications are faced by the challenge of implementing mixed-criticality applications, in which the same hardware is used to implement functions with different criticality levels. This paper proposes an approach for avionic applications, based on HIL, to verify the correctness of behaviour of critical processes even if a fault affects a non-critical process sharing the same hardware platform.
2018 IEEE 24th International Symposium on On-Line Testing And Robust System Design (IOLTS), 2018
The Failure Mode, Effect and Diagnostic Analysis (FMEDA) is a technique widely adopted by automot... more The Failure Mode, Effect and Diagnostic Analysis (FMEDA) is a technique widely adopted by automotive industry to assess the level of reliability of hardware designs. Although very useful, it has the problem of taking a long time to complete and requires experts with extensive knowledge of the circuit under consideration. In this paper, it is presented a comparison between the analysis results obtained from an automatic tool developed by the authors with respect to the ones obtained by hand from a team of experts, followed by a critical review of the strengths and weaknesses, about the rules for automatic classification of the faults effects.
A theoretical study about the Active suspension.
- Quarter-car model simulation on MATLAB/SIMUL... more A theoretical study about the Active suspension.
- Quarter-car model simulation on MATLAB/SIMULINK
- Full-car model simulation on CarSim
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Robotics@MiddleSchool by Jacopo Sini
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https://dl.dropboxusercontent.com/u/109832490/RoboticsMS/index.html
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- non si può controllare quello che non si può misurare
- non si può misurare quello che non si può modellizzare
- non si può modellizzare quello che non si conosce.
Pagina del corso:
https://dl.dropboxusercontent.com/u/109832490/RoboticsMS/index.html
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Papers by Jacopo Sini
Pagina del corso:
https://dl.dropboxusercontent.com/u/109832490/RoboticsMS/index.html
Pagina del corso:
https://dl.dropboxusercontent.com/u/109832490/RoboticsMS/index.html
Pagina del corso:
https://dl.dropboxusercontent.com/u/109832490/RoboticsMS/index.html
- non si può controllare quello che non si può misurare
- non si può misurare quello che non si può modellizzare
- non si può modellizzare quello che non si conosce.
Pagina del corso:
https://dl.dropboxusercontent.com/u/109832490/RoboticsMS/index.html
Pagina del corso:
https://dl.dropboxusercontent.com/u/109832490/RoboticsMS/index.html
- Quarter-car model simulation on MATLAB/SIMULINK
- Full-car model simulation on CarSim