Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931860
Ravi kiran Inapakurthi, K. Mitra
Uncertainty in process conditions makes the optimal solution from the deterministic optimization case infeasible or suboptimal. This mandates a special treatment for process uncertainty. The advent of unsupervised machine learning technique like clustering can be used to address this problem. Data arising from process conditions is meager and, to perform robust optimization, it is necessary to have enough representation of the uncertain region. For this, the collected data from process conditions is clustered using Support Vector Clustering (SVC). The hyper-parameters of SVC play a crucial role in clustering exercise. To promote this, a novel algorithm for determining optimal SVC models, is proposed. The proposed algorithm is used to cluster the uncertain process data and once clustered, can be used to sample additional data points inside each cluster using the convex hull. The additionally sampled data points in each cluster increases the cluster representativeness. The proposed methodology is implemented on industrial grinding circuits for performing Optimization Under Uncertainty (OUU) for the worst-case scenario and tested against the budget-uncertainty set based OUU.
{"title":"Artificial Intelligence Assisted Optimization Under Uncertainty for Robust Solutions","authors":"Ravi kiran Inapakurthi, K. Mitra","doi":"10.1109/ICSTCC55426.2022.9931860","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931860","url":null,"abstract":"Uncertainty in process conditions makes the optimal solution from the deterministic optimization case infeasible or suboptimal. This mandates a special treatment for process uncertainty. The advent of unsupervised machine learning technique like clustering can be used to address this problem. Data arising from process conditions is meager and, to perform robust optimization, it is necessary to have enough representation of the uncertain region. For this, the collected data from process conditions is clustered using Support Vector Clustering (SVC). The hyper-parameters of SVC play a crucial role in clustering exercise. To promote this, a novel algorithm for determining optimal SVC models, is proposed. The proposed algorithm is used to cluster the uncertain process data and once clustered, can be used to sample additional data points inside each cluster using the convex hull. The additionally sampled data points in each cluster increases the cluster representativeness. The proposed methodology is implemented on industrial grinding circuits for performing Optimization Under Uncertainty (OUU) for the worst-case scenario and tested against the budget-uncertainty set based OUU.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"295 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132909197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931874
Daniel Henning, Georg Schildbach
This paper presents a new method of collision checking for non-holonomic dynamical systems in environments with narrow passages. This new method is compared with alternative approaches for collision checking, which are widely used in conjunction with different path planners. All methods are evaluated in a systematic simulation study with numerous scenarios, using two of the most popular path planning methods, Hybrid A* and RRT*. On the one hand, the results show that the new collision checking approach can manage the narrow passages better than the compared methods. On the other hand, its computation time can be longer or shorter, depending on the particular scenario.
本文提出了窄通道环境下非完整动力系统碰撞检测的一种新方法。该方法与其他碰撞检测方法进行了比较，这些方法通常与不同的路径规划器结合使用。采用两种最流行的路径规划方法Hybrid a *和RRT*，在系统仿真研究中对所有方法进行了评估。结果表明，该碰撞检测方法能较好地处理窄通道。另一方面，它的计算时间可能更长或更短，这取决于特定的场景。
{"title":"A Continuous Collision Checking Method for Non-holonomic Path Planning in Narrow Environments","authors":"Daniel Henning, Georg Schildbach","doi":"10.1109/ICSTCC55426.2022.9931874","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931874","url":null,"abstract":"This paper presents a new method of collision checking for non-holonomic dynamical systems in environments with narrow passages. This new method is compared with alternative approaches for collision checking, which are widely used in conjunction with different path planners. All methods are evaluated in a systematic simulation study with numerous scenarios, using two of the most popular path planning methods, Hybrid A* and RRT*. On the one hand, the results show that the new collision checking approach can manage the narrow passages better than the compared methods. On the other hand, its computation time can be longer or shorter, depending on the particular scenario.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127572285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931873
Hamid Boukerrou, G. Millérioux, M. Minier
Among several solutions to face the unprecedented increase of attacks towards Cyber Physical Systems, encryption plays a central role. In the form of a Proof of Concept, this contribution gives a new methodology for designing self-synchronizing automata, having in mind their use in symmetric cryptography, namely the Self-Synchronizing Stream Ciphers. The contribution of the paper is to recast the design as control theoretical issues. It calls for a graph-based approach and results borrowed from control theory and dynamical systems, in particular LPV systems. The design leads to not necessarily $T$-functions as state transition functions of the automata involved in the ciphering and deciphering sides. It is a consideration that is important for the sake of security. Another asset of the approach is that the resulting ciphers admit possibly vectorial inputs to enhance the throughput.
{"title":"Towards a new design of ciphers to secure CPS: the role of control theory","authors":"Hamid Boukerrou, G. Millérioux, M. Minier","doi":"10.1109/ICSTCC55426.2022.9931873","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931873","url":null,"abstract":"Among several solutions to face the unprecedented increase of attacks towards Cyber Physical Systems, encryption plays a central role. In the form of a Proof of Concept, this contribution gives a new methodology for designing self-synchronizing automata, having in mind their use in symmetric cryptography, namely the Self-Synchronizing Stream Ciphers. The contribution of the paper is to recast the design as control theoretical issues. It calls for a graph-based approach and results borrowed from control theory and dynamical systems, in particular LPV systems. The design leads to not necessarily $T$-functions as state transition functions of the automata involved in the ciphering and deciphering sides. It is a consideration that is important for the sake of security. Another asset of the approach is that the resulting ciphers admit possibly vectorial inputs to enhance the throughput.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129800732","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931780
Maryam Naghdi, I. Izadi
This paper investigates the motion tracking problem for piezoelectric actuators (PEAs) using a sampled-data control method known as sampled-data model-free adaptive control (SMFAC). The fundamental architecture of the proposed scheme is based on input-output data, and the sampling period is an integral part of the design. PEA with the Bouc-Wen hysteresis model is first considered to obtain a sampled-data nonlinear model using the integral mean value theorem and the discrete-time Euler approximation. Then, a sampled-data control rule subject to input rate constraint is constructed by applying a sampled-data extended state observer (SESO) and a sampled-data parameter estimation technique. The SESO is used to estimate the unknown residual nonlinearity and external disturbances. The convergence of the tracking error is proven through theoretical analysis. Experimental results confirm the adequate performance of the proposed scheme.
{"title":"Sampled-Data Model-Free Adaptive Control of Piezoelectric Actuators with Input Rate Constraint Using Extended State Observer","authors":"Maryam Naghdi, I. Izadi","doi":"10.1109/ICSTCC55426.2022.9931780","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931780","url":null,"abstract":"This paper investigates the motion tracking problem for piezoelectric actuators (PEAs) using a sampled-data control method known as sampled-data model-free adaptive control (SMFAC). The fundamental architecture of the proposed scheme is based on input-output data, and the sampling period is an integral part of the design. PEA with the Bouc-Wen hysteresis model is first considered to obtain a sampled-data nonlinear model using the integral mean value theorem and the discrete-time Euler approximation. Then, a sampled-data control rule subject to input rate constraint is constructed by applying a sampled-data extended state observer (SESO) and a sampled-data parameter estimation technique. The SESO is used to estimate the unknown residual nonlinearity and external disturbances. The convergence of the tracking error is proven through theoretical analysis. Experimental results confirm the adequate performance of the proposed scheme.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130019262","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931787
Octavian Duca, E. Minca, A. Filipescu, R. Șolea, D. Cernega, M. Paun
In the flexible manufacturing environment some processes that until now did not need a close loop control need to be controlled so that the precision of the task permits the continuing of the manufacturing. As the processes are optimized and the manufacturing consists of multiple parallel processes, there is a need of assuring that a product is at a certain location at a certain time. In the control of a task, usually, the output of the system is measured in a timely manner at a certain sampling time. This is usually not possible in the manufacturing processes as a product position is given based on events, by sensors placed at certain locations. Certain event-based PID controllers were proposed and implemented in other control areas but in this controllers the event triggering is given by the error passing a certain level. This kind of controller cannot be implemented given the necessity of high frequency measurement of product position. In this paper we propose an PID event-base controller that uses as triggering event the activation of one of the manufacturing process sensors by the product. As the sensors are placed only in key positions the number of activations is limited. Based on these sensors the PID controller determines the necessary control signals between the key locations.
{"title":"Event-based PID control in a flexible manufacturing process","authors":"Octavian Duca, E. Minca, A. Filipescu, R. Șolea, D. Cernega, M. Paun","doi":"10.1109/ICSTCC55426.2022.9931787","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931787","url":null,"abstract":"In the flexible manufacturing environment some processes that until now did not need a close loop control need to be controlled so that the precision of the task permits the continuing of the manufacturing. As the processes are optimized and the manufacturing consists of multiple parallel processes, there is a need of assuring that a product is at a certain location at a certain time. In the control of a task, usually, the output of the system is measured in a timely manner at a certain sampling time. This is usually not possible in the manufacturing processes as a product position is given based on events, by sensors placed at certain locations. Certain event-based PID controllers were proposed and implemented in other control areas but in this controllers the event triggering is given by the error passing a certain level. This kind of controller cannot be implemented given the necessity of high frequency measurement of product position. In this paper we propose an PID event-base controller that uses as triggering event the activation of one of the manufacturing process sensors by the product. As the sensors are placed only in key positions the number of activations is limited. Based on these sensors the PID controller determines the necessary control signals between the key locations.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134581759","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931788
A. Nair, Jonas Weitzel, A. Hykkerud, H. Ratnaweera
Online water-quality sensors installed in Wastewater Treatment Plants (WWTPs) are prone to process disturbances that generate erroneous data. Faulty sensor data can disrupt automation systems and result in sub-optimal performance of WWTPs. This paper presents a machine-learning-based system for real-time detection and the subsequent correction of faulty sensor data installed in a full-scale municipal WWTP. The fault detection system is developed by training a k-nearest neighbour (kNN) classifier with labelled historical data. The trained kNN classifier is then deployed in the WWTP's web-based Supervisory Control And Data Acquisition (SCADA) system to assess the performance in real-time. A qualitative comparison between raw and corrected sensor data demonstrates the system's potential to detect sensor faults and provide stable and reliable surrogate values.
{"title":"Supervised machine learning based system for automatic fault-detection in water-quality sensors","authors":"A. Nair, Jonas Weitzel, A. Hykkerud, H. Ratnaweera","doi":"10.1109/ICSTCC55426.2022.9931788","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931788","url":null,"abstract":"Online water-quality sensors installed in Wastewater Treatment Plants (WWTPs) are prone to process disturbances that generate erroneous data. Faulty sensor data can disrupt automation systems and result in sub-optimal performance of WWTPs. This paper presents a machine-learning-based system for real-time detection and the subsequent correction of faulty sensor data installed in a full-scale municipal WWTP. The fault detection system is developed by training a k-nearest neighbour (kNN) classifier with labelled historical data. The trained kNN classifier is then deployed in the WWTP's web-based Supervisory Control And Data Acquisition (SCADA) system to assess the performance in real-time. A qualitative comparison between raw and corrected sensor data demonstrates the system's potential to detect sensor faults and provide stable and reliable surrogate values.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129656649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931833
S. Zanoli, C. Pepe, G. Astolfi
The present work describes an Advanced Process Control solution applied to a cement plant grate cooler. The grate cooler is located downstream of a clinker rotary kiln with the purpose of suitably cooling the clinker. Clinker is cooled through the action of multiple cold air fan units as it is transported by the clinker rotary kiln. A Model Predictive Control strategy was designed in order to minimize the electrical energy consumption of the cold air fan units while guaranteeing the necessary heat recovery for the kiln and the preheater. At the same time, clinker quality constraints are taken into account. The designed controller has been installed on the real plant, obtaining satisfactory results in terms of kiln tertiary air increase and of kiln combustion improvement. In particular, a major process stabilization has been achieved, proven by a significant reduction of the standard deviation related to the pressure of cooler grate.
{"title":"Advanced Process Control of a cement plant grate cooler","authors":"S. Zanoli, C. Pepe, G. Astolfi","doi":"10.1109/ICSTCC55426.2022.9931833","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931833","url":null,"abstract":"The present work describes an Advanced Process Control solution applied to a cement plant grate cooler. The grate cooler is located downstream of a clinker rotary kiln with the purpose of suitably cooling the clinker. Clinker is cooled through the action of multiple cold air fan units as it is transported by the clinker rotary kiln. A Model Predictive Control strategy was designed in order to minimize the electrical energy consumption of the cold air fan units while guaranteeing the necessary heat recovery for the kiln and the preheater. At the same time, clinker quality constraints are taken into account. The designed controller has been installed on the real plant, obtaining satisfactory results in terms of kiln tertiary air increase and of kiln combustion improvement. In particular, a major process stabilization has been achieved, proven by a significant reduction of the standard deviation related to the pressure of cooler grate.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"609 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131425530","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931881
Rúul Brenes Astorga, Mercedes Chacón Vásquez
Tuning nonlinear controllers which can be easily implemented in real-time applications is a challenging task since stability in the controlled loop has to be guaranteed. In this work, a set of new tuning rules for nonlinear PI controllers applied to first-order plus dead time systems is presented. The design method guarantees the asymptotic stability of the control system while providing optimal performance. Moreover, the tuning rules offer good robustness in the presence of process variations and disturbance. This controller is easy to implement and the efficacy of the method is shown through various simulations. Furthermore, the real-time implementation of the tuning rule on a control loop for an airflow process is shown.
{"title":"Optimal tuning rules for an absolutely stable nonlinear PI controller with a practical application","authors":"Rúul Brenes Astorga, Mercedes Chacón Vásquez","doi":"10.1109/ICSTCC55426.2022.9931881","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931881","url":null,"abstract":"Tuning nonlinear controllers which can be easily implemented in real-time applications is a challenging task since stability in the controlled loop has to be guaranteed. In this work, a set of new tuning rules for nonlinear PI controllers applied to first-order plus dead time systems is presented. The design method guarantees the asymptotic stability of the control system while providing optimal performance. Moreover, the tuning rules offer good robustness in the presence of process variations and disturbance. This controller is easy to implement and the efficacy of the method is shown through various simulations. Furthermore, the real-time implementation of the tuning rule on a control loop for an airflow process is shown.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"167 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129247466","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931813
Alin Burz, N. Hajjar, P. Tucan, C. Radu, A. Pîslă, F. Graur, C. Vaida, C. Popa, T. Antal, D. Pisla
The paper presents the control system of two medical instruments used in percutaneous cancer treatment. One instrument is designed for radiofrequency ablation and the other one for brachytherapy. The instruments may be attached to various robots capable of providing 5 Degrees of Freedom. Two robotic solutions are used for exemplifying this capability, namely the Kuka iiwa robot and the PARA-BRACHYROB. The developed control system is capable to communicate with both robots using MATLAB environment and different communication protocols to establish the connections between the robot control units.
{"title":"On the control system for the robotic assisted instruments used in percutaneous cancer treatment","authors":"Alin Burz, N. Hajjar, P. Tucan, C. Radu, A. Pîslă, F. Graur, C. Vaida, C. Popa, T. Antal, D. Pisla","doi":"10.1109/ICSTCC55426.2022.9931813","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931813","url":null,"abstract":"The paper presents the control system of two medical instruments used in percutaneous cancer treatment. One instrument is designed for radiofrequency ablation and the other one for brachytherapy. The instruments may be attached to various robots capable of providing 5 Degrees of Freedom. Two robotic solutions are used for exemplifying this capability, namely the Kuka iiwa robot and the PARA-BRACHYROB. The developed control system is capable to communicate with both robots using MATLAB environment and different communication protocols to establish the connections between the robot control units.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128171187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.1109/ICSTCC55426.2022.9931880
C. Popovici, A. Stan
The last decade brought up the tendency of turning every tool and device around us into a smart, autonomous, interconnected, and interoperable instrument. Autonomous driving initiative is on the verge of introducing self-driving cars with a high level of safety. Aerospace industry delivers products which improves the flight efficiency and safety, helping the pilots take the best decisions. Astronauts are no longer required to go themselves on the Moon and to risk their lives because smart interconnected robots can perform very complex spatial missions. All of these wouldn't be possible without the continuously development of the Embedded Computing. MCUs (Microcontroller Unit) and SoCs (Systems on a Chip) were permanently improved in terms of working frequency, number of processors and fast peripherals. But we reached a point when improving these parameters is not enough and the necessity of application-specific hardware accelerators and algorithms arose. A field of Embedded development which we think is suitable for integrating an application-specific hardware unit is the CAN-FD communication. This paper describes integration of a CAN-FD Communication Unit into an ISA-extended RISC-V Core (RisCanFd CPU) and designing the MCU which embeds it, called RisCanFd. Our design includes also a debugging unit called UartDebugger which eases the development of programms for RisCanFd. For offering a modern development approach, a GUI application called RisCanFd_DebugIDE was written together with a dedicated assembler, RisCanFd_Assembler. This software tool offers both develop and debug perspectives. RisCanFd may be an alternative to using classical microcontrollers with external or internal memory-mapped CAN-FD (Controller Area Network Flexible Data rate) communication peripherals. Our solution is bringing considerable improvement, which will be presented in this paper.
{"title":"Extending a RISC-V Core with a CAN-FD Communication Unit","authors":"C. Popovici, A. Stan","doi":"10.1109/ICSTCC55426.2022.9931880","DOIUrl":"https://doi.org/10.1109/ICSTCC55426.2022.9931880","url":null,"abstract":"The last decade brought up the tendency of turning every tool and device around us into a smart, autonomous, interconnected, and interoperable instrument. Autonomous driving initiative is on the verge of introducing self-driving cars with a high level of safety. Aerospace industry delivers products which improves the flight efficiency and safety, helping the pilots take the best decisions. Astronauts are no longer required to go themselves on the Moon and to risk their lives because smart interconnected robots can perform very complex spatial missions. All of these wouldn't be possible without the continuously development of the Embedded Computing. MCUs (Microcontroller Unit) and SoCs (Systems on a Chip) were permanently improved in terms of working frequency, number of processors and fast peripherals. But we reached a point when improving these parameters is not enough and the necessity of application-specific hardware accelerators and algorithms arose. A field of Embedded development which we think is suitable for integrating an application-specific hardware unit is the CAN-FD communication. This paper describes integration of a CAN-FD Communication Unit into an ISA-extended RISC-V Core (RisCanFd CPU) and designing the MCU which embeds it, called RisCanFd. Our design includes also a debugging unit called UartDebugger which eases the development of programms for RisCanFd. For offering a modern development approach, a GUI application called RisCanFd_DebugIDE was written together with a dedicated assembler, RisCanFd_Assembler. This software tool offers both develop and debug perspectives. RisCanFd may be an alternative to using classical microcontrollers with external or internal memory-mapped CAN-FD (Controller Area Network Flexible Data rate) communication peripherals. Our solution is bringing considerable improvement, which will be presented in this paper.","PeriodicalId":220845,"journal":{"name":"2022 26th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"420 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122794980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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