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Michael Reibel Boesen1, Didier Keymeulen2, Jan Madsen1, Thomas Lu2, Tien-Hsin Chao2
1: Technical University of Denmark2: NASA Jet Propulsion Laboratory
November 3rd, 2010
Integration of the Self-Healing eDNA Architecture in an
Embedded System and Evaluation of it Using a Fourier Transform
Spectrometer Instrument Application
1
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Big picture
2
eDNA: Self-healing hardware arch.DTU InformaticsMichael, Jan Madsen, Pascal Schleuniger
Fast design and impl. using CompactRIO for space instrumentsGreg Flesch (JPL)Didier Keymeulen (JPL)
Tunable Laser Spectrometer (MSL)
RampFFT AVG
Analogoutput
PowerPC, 800MHz, VxWorks
Analog
input
ADCDAC
FPGA Virtex540MHz clock
DAQ
CompactRIO
Liquid Crystal Waveguide-based Fourier Transform SpectrometerTien-Hsin Chao (JPL)Thomas Lu (JPL)Scott Davis (Vescent Photonics)George Farca (Vescent Photonics)
![Page 3: Michael Reibel Boesen 1, Didier Keymeulen 2, Jan Madsen 1, Thomas Lu 2, Tien-Hsin Chao 2 1 : Technical University of Denmark 2 : NASA Jet Propulsion Laboratory.](https://reader036.fdocuments.us/reader036/viewer/2022070307/551a8db4550346b52d8b5c67/html5/thumbnails/3.jpg)
Motivation:Why Self-healing in Fourier Transform
Spectrometer
• Harsh environment increases probability of permanent & transient faults– Fault in control: Cause damage of instrument– Fault in data processing: Loss of vital science
data• Repairs impossible, high risk or very
expensive• Need for autonomous hardware self-
healing
3
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Agenda
• eDNA: Self-healing hardware architecture• Case study application: Fourier Transform
Spectrometer• Hardware/software implementation &
CompactRIO• Self-healing of FTS: Control & data processing• Performance evaluation
4
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NA
NA
NANA
NANA
NA
NA
NA
eDNA architecture overview
5
32
32
A
BμPRAM
Load S0,00Jump Z, SPLoad S0,01
Ribosomal DNA
Pkg in Pkg out
Communicationlayer
Control Layer
Computationalgranule
Computationlayer
eCell
eCell
eCell
eCell
eCell
eCell
eCell
eCell eCell
001010100100110
eDNAprog.
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eDNA Compiler
6
while (b != 0) do if (b<a)then a = a – b else b = b – a endifendwhile
1
2
4
while
exp
if
Trans-lation
3
exp
Placement
eDNA program
Genome 1
Genome 2
Genome 3
Genome 4
Encoding
EXPR(a=a-b)
Data
Data
Start 1
Func.
Comm
1. Placement
2. Functionality
3. Communication• All eCells have
copy
=> Completely distributedarchitecture
ID ADDR
01 (1,1)
02 (2,1)
03 (1,2)
04 (2,2)
4
2
1
Comm. type Comm. target
Map
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eDNA Self-reconfiguration
7
NA
NA
NANA
NANA
NA
NA
NA
(1,3)
(1,2)
(1,1)
(2,2)
(2,1)
(3,2)
(3,1)
(2,3) (3,3)
P1234
P1234
P1234
P1234
P1234
P1234
P1234
P1234
Pkg in Pkg out
P1234
ID ADDR
01 (1,1)
02 (2,1)
03 (1,2)
04 (2,2)
Genome 1
Genome 2
Genome 3
Genome 4
1. Addr relate to ID
2. ID relate to Genome
3. No genome => spare
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eDNA Self-healing
1. Fault-detection: TMR-based algorithm: Cell C and spare detects fault at Cell F
2. Spare localization: Cell C locates closest spare-cell K
3. Self-reconfiguration: Broadcast table update– Effects: Function & Communication restoration and Isolation of faulty cell
1. Functionality restoration: “Moved” to (3,1):
2. Communication restoration: Now going to (3,1) instead of (1,1)
3. Isolation: No one communicates with (1,1)
8
(1,3)
(1,2)
(1,1)
(2,2)
(2,1)
(3,2)
(3,1)
(2,3) (3,3)
P1234
P1234
P1234
P1234
P1234
P1234
P1234
P1234
P1234
ID ADDR
01 (1,1)
02 (2,1)
03 (1,2)
04 (2,2)
ID ADDR
01 (3,1)
02 (2,1)
03 (1,2)
04 (2,2)
Pre-fault Self-healed
Genome 1
Genome 2
Genome 3
Genome 4
(3,1)
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Gene RAM
32 ALUop
32
A
B
ALU
Z
IF/WHILE• <=• !=
EXPR•
+• -• *•
Shift
etc.
Pico-Blaze
eDNARAM
NA+SAF
To other eCells
Ribosome DNA RAM
Self-healing hardware eDNA: Prototype Hardware Architecture
state machine
Network Adapter + Store and forward
registers
swsw
NxM-bit data
8-bit address
8-bit identifier
N M
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Case study:Liquid Crystal Waveguide-based Fourier Transform Spectrometer
10
FFT
Data Acquisition
Change OPD bychanging voltageon electrodes
Averaging
Prototype: SLD: 1450-1700nm, Resolution: 3-4nm
Ramp
Gas
• No moving parts
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Fourier Transform Spectrometer HW/SW Integration on CompactRIO Platform
• HW: Real-time embedded controller architecture (CompactRIO) consisting of– PowerPC at 800MHz running VxWorks– Xilinx V5-LX110 FPGA– Analog input module– Analog output module
• High-level SW tool support: LabVIEW– FPGA synthesis: Graphical programming language– Integration of VHDL code– Integration of I/O
• Very fast path-to-flight• Design, test & prototype with hardware-in-the-loop (TRL 0-5)• Straight to deploy/flight: Using Honeywell hardware (TRL 6-9)
11
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FTS HW/SW integrationMapping of components
12
eDNA
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Self-healing hardware for FTSIntegration of eDNA onto CompactRIO (1)
13
eDNAVHDL code- Virtex 5
LabVIEW FPGA- Component Level IP Node
LabVIEWCLIP
XMLVHDLDescr.
TopLevelVHDLFile
Integrationin LabVIEWas regular I/O
Developer level
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Self-healing hardware for FTSFTS data processing and control on eDNA
• SW Toolkit: Simulation, optimization and compilation env.
14
Write eDNA DownloadTranslate
Sim
FFT
AVG
Ramp
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Self-healing hardware for FTSeDNA performance evaluation
• Focus– eDNA Execution time vs. LabVIEW FPGA
impl.– Self-healing time– Execution time before and after healing
• Note: No TMR fault detection yet
15
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Self-healing hardware for FTSeDNA performance evaluation
• eDNA signals that an error occurred Data removed from dataset Advanced TMR-based protocol in-the-works
• Fairness of comparison?– eDNA: FPGA type platform on top of FPGA– FPGA-based prototype: What we have right
now16
Measurement LabVIEW eDNA
Execution time AVG 2.42 us 219 us
Self healing time N/A 110 us
Worst case recovery time N/A 1 sample lost
Area type Factor
# Slices 6x
# Flip-Flops 4x
# LUTs 6x
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Self-healing hardware for FTSeDNA performance evaluation
17
(1,3)
(1,2)
(1,1)
(2,2)
(2,1)
(3,2)
(2,3) (3,3)(1,3)
(1,2)
(1,1)
(2,2)
(2,1)
(3,2)
(3,1)
(2,3) (3,3)
Autonomous
(3,1)
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Self-healing hardware for FTSeDNA performance evaluation
Depends on cell placement
18
(1,3)
(1,2)
(1,1)
(2,2)
(2,1)
(3,2)
(2,3) (3,3)(1,3)
(1,2)
(1,1)
(2,2)
(2,1)
(3,2)
(3,1)
(2,3) (3,3)
Autonomous
(3,1)
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Ramp results
19
Measurement LabVIEW eDNA
Execution time ramp 1 us 242 us
Self healing time N/A 110 us
Worst case recovery time N/A 1 sample lost
Area type Factor
# Slices 6x
# Flip-Flops 4x
# LUTs 6x
![Page 20: Michael Reibel Boesen 1, Didier Keymeulen 2, Jan Madsen 1, Thomas Lu 2, Tien-Hsin Chao 2 1 : Technical University of Denmark 2 : NASA Jet Propulsion Laboratory.](https://reader036.fdocuments.us/reader036/viewer/2022070307/551a8db4550346b52d8b5c67/html5/thumbnails/20.jpg)
DCT/FFT results
• FFT implemented using FFT.VI in LabVIEW
• eDNA DCT
20
Measurement LabVIEW eDNA
Execution time FFT/DCT 5.5ms 627.83ms to 42min
Self healing time N/A 123 us
Worst case recovery time N/A 1 sample lost
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Conclusion (1)
• eDNA self-healing architecture demonstrated in real world application
• Fast integration of eDNA architecture into embedded real-time system
• Data processing and control functionality of FTS compiled into eDNA code
21
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Conclusion (2)
• Autonomous self-healing functionality comes at a high-cost
• Future improvements to eDNA– Reduce immense communication overhead
between cells in eDNA architecture– Replace 8-bit Xilinx PicoBlaze with ASIP– HW implementation of fault-detection
mechanism• Self-healing time: A fraction of execution
time22
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References
• eDNA architecture:– Michael R. Boesen, Jan Madsen - eDNA: A Bio-Inspired Reconfigurable
Hardware Cell Architecture Supporting Self-organisation and Self-healing, NASA/ESA Adaptive Hardware Systems (AHS’09) 2009, San Francisco.
– Michael R. Boesen, Pascal Schleuniger, Jan Madsen - Feasibility Study of a Self-healing Hardware Platform, Applied Reconfigurable Computing Conference (ARC’10), Bangkok.
• LCW-FTS:– Chao, T., Lu, T., Davis, S. R., Rommel, S. D., Farca, G., Luey, B., Martin, A. and
Anderson, Michael: Compact Liquid Crystal Waveguide Based Fourier Transform Spectrometer for In-Situ and Remote Gas and Chemical Sensing, Society of Photographic Instrumentation Engineers (SPIE) 2008.
– Chao, T: Electro-Optic Imaging Fourier Transform Spectrometer, IEEE Aerospace Conference 2007.
• Tunable Laser Spectrometer for MSL– Flesch, G. and Keymeulen, D.: Adaptive Control of Tunable Laser Spectrometers
for Space Flight Applications, IEEE Aerospace 2010, Big Sky.– Flesch, G. and Keymeulen, D.: Adaptive Embedded System applied to Tunable
Laser Spectrometers for Space Flight Applications, NASA/ESA Adaptive Hardware Systems (AHS’10), Anaheim.
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Backup slides
25
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Fault detection slide
26
Primarygenes
eCell type
IF (B<A)
Secondarygenes
1
2
3 4
while
expexp
if
1
2
3 4
while
expexp
if
1
whileProtocol:1. 2nd start => do 2nd gene2. 1st start =>
1. Check that result from package == 2nd gene result2. If not, send test package to nearest spare cell
3. Spare cell is now tester and voter in TMR system4. Inconsistency = fault!
EXPR(a=a-b)
Data
Data
2nd start
Start
4
2
1
2
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27
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Path-to-flight
28
Design, prototype & testTRL : 0 - 5
Deploy on Honeywell RDETRL : 6 - 9
Design, Prototype & Testwith hardware in the loop [HIL]
Deploy/flight
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Z = A expr B
EXPR.
start
finish Z
A BBool
S1
start
S2
finish
Bool
S
start
finish
if BOOL then S1else S2end if
while BOOL do Send while
Parallel S1end ParallelParallel S2end Parallel
S1 S1
start
finishfinish
Self-healing hardware eDNA: Design Methodology (1/2)
Compilation Technique
while (b != 0) do if (b<a) then a = a – b else b = b – a endifendwhile
1while
4exp
3exp
2if
29
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Analogoutput
FTS HW/SW integrationMapping of components
30
PowerPC, 800MHz, VxWorks
Analoginput
FFT
AVG
ADC DAC
FPGA Virtex540MHz clock
DAQRamp
![Page 31: Michael Reibel Boesen 1, Didier Keymeulen 2, Jan Madsen 1, Thomas Lu 2, Tien-Hsin Chao 2 1 : Technical University of Denmark 2 : NASA Jet Propulsion Laboratory.](https://reader036.fdocuments.us/reader036/viewer/2022070307/551a8db4550346b52d8b5c67/html5/thumbnails/31.jpg)
Z = A expr B
EXPR.
start
finish Z
A BBool
S1
start
S2
finish
Bool
S
start
finish
if BOOL then S1else S2end if
while BOOL do Send while
Parallel S1end ParallelParallel S2end Parallel
S1 S1
start
finishfinish
Self-healing hardware eDNA: Design Methodology (1/2)
Compilation Technique
while (b != 0) do if (b<a) then a = a – b else b = b – a endifendwhile
1while
4exp
3exp
2if
31
PC eCell type Edge type Target
EXPR(B=B-A)
2if
4exp
PC eCell type Edge type Target
01 EXPR(A=A-B) Data 04
PC eCell type Edge type Target
01 EXPR(A=A-B) Data 04
02 EXPR(A=A-B) Data 02
1while
3exp
PC eCell type Edge type Target
01 EXPR(A=A-B) Data 04
02 EXPR(A=A-B) Data 02
03 EXPR(A=A-B) Data 01
00 EXPR(A=A-B) Start 01
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Self-healing hardware eDNA: ASIC implementation
• Aimed at ASIC implementation featuring– Distributed TMR-based Fault Detection
protocol– Dedicated eCell processor design
• Why ASIC not FPGA?– Cell CPU - PicoBlaze main bottleneck[ARC’10]
• Need dedicated design for speed
– Higher logical granulation needed– Communication penalty
32
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Case-study application:Fourier Transform Spectrometer
• Purpose: Spectral detection of gases• Michelson Interferometer Design
33
FFTFFT
Gas
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Application of Self-healing hardware: eDNALCW-FTS – Liquid Crystal Waveguide
Fourier Transform Spectrometer
• No moving parts
34
Gas