Le domaine des protocoles tolérants aux pannes étudie quelles tâches concurrentes sont résolubles dans différents modèles de calcul avec pannes. Des outils mathématiques basés sur la topologie combinatoire ont été développés depuis les années 1990 pour aborder ces questions. Dans ce cadre, la tâche que l’on veut résoudre, et le protocole auquel on fait appel, sont modélisés par des complexes simpliciaux chromatiques. On définit qu’un protocole résout une tâche lorsqu’il existe une certaine application simpliciale entre ces complexes.Dans cette thèse, on étudie ces méthodes géométriques du point de vue de la sémantique. Le premier objectif est de fonder cette définition abstraite de résolution d’une tâche sur une autre plus concrète, basée sur des entrelacements de traces d’exécution. On examine diverses notions de spécifications pour les objets concurrents, afin de définir un cadre général pour la résolution de tâches par des objets partagés. On montre ensuite comment extraire de ce cadre la définition topologique de résolubilité de tâches.Dans la deuxième partie de la thèse, on prouve que les complexes simpliciaux chromatiques peuvent être utilisés pour évaluer des formules de logique épistémique. Cela permet d’interpréter les preuves topologiques d’impossibilité en fonction de la quantité de connaissances à acquérir pour résoudre une tâche.Enfin, on présente quelques liens préliminaires avec la sémantique dirigée pour les programmes concurrents. On montre comment la subdivision chromatique d’un simplexe peut être retrouvée en considérant des notions combinatoires de chemins dirigés. / The field of fault-tolerant protocols studies which concurrent tasks are solvable in various computational models where processes may crash. To answer these questions, powerful mathematical tools based on combinatorial topology have been developed since the 1990’s. In this approach, the task that we want to solve, and the protocol that we use to solve it, are both modeled using chromatic simplicial complexes. By definition, a protocol solves a task when there exists a particular simplicial map between those complexes.In this thesis we study these geometric methods from the point of view of semantics. Our first goal is to ground this abstract definition of task solvability on a more concrete one, based on interleavings of execution traces. We investigate various notions of specification for concurrent objects, in order to define a general setting for solving concurrent tasks using shared objects. We then show how the topological definition of task solvability can be derived from it.In the second part of the thesis, we show that chromatic simplicial complexes can actually be used to interpret epistemic logic formulas. This allows us to understand the topological proofs of task unsolvability in terms of the amount of knowledge that the processes should acquire in order to solve a task.Finally, we present a few preliminary links with the directed space semantics for concurrent programs. We show how chromatic subdivisions of a simplex can be recovered by considering combinatorial notions of directed paths.

This work deals with the design of a small hydro secured control system. The secured control system itself belongs to the Fault Tolerant Systems category. At first the requirements on small hydro control system are discussed. Then the introduction into the basics of Fault Tolerant System theory is given. The requirements on small hydro control system and basics of Fault Tolerant Systems are basis for specification of secured control system which design and construction is the main objective of this work.

Tato práce popisuje navrženou metodologii pro návrh systémů odolných proti poruchám v FPGA schopnou ochránit systém před projevy přechodných a trvalých poruch. Oprava přechodné poruchy je prováděna částečnou dynamickou rekonfigurací. Oprava omezeného počtu trvalých poruch je založena na použití odolných architektur využívajících menší množství zdrojů než předchozí použitá architektura. Vadná část FPGA tak není dále využívána. Tato technika je založena na použití předkompilovaných konfigurací uložených v externí paměti. Pro snížení paměťových nároků pro uložení konfiguračních bitových posloupností je použita technika relokace.

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Biological phenomena found in nature can be learned and customized to obtain innovative engineering solutions. In recent years, biologists found that birds and bats use their mechanoreceptors to sense the airflow information and use this information directly to achieve their agile flight performance. Inspired by this phenomenon, an attitude control system for micro air vehicles using rich amount of airflow sensor information is proposed, designed and tested. The dissertation discusses our research findings on this topic. First, we quantified the errors between the calculated and measured lift and moment profiles using a limited number of micro pressure sensors over a straight wing. Then, we designed a robust pitching controller using 20 micro pressure sensors and tested the closed-loop performance in a simulated environment. Additionally, a straight wing was designed for the pressure sensor based pitching control with twelve pressure sensors, which was then tested in our low-speed wind tunnel. The closed-loop pitching control system can track the commanded angle of attack with a rising time around two seconds and an overshoot around 10%. Third, we extended the idea to the three-axis attitude control scenarios, where both of the pressure and shear stress information are considered in the simulation. Finally, a fault tolerant controller with a guaranteed asymptotically stability is proposed to deal with sensor failures and calculation errors. The results show that the proposed fault tolerant controller is robust, adaptive, and can guarantee an asymptotically stable performance even in case that 50% of the airflow sensors fail in flight.

The popularity of MPI-based middleware and applications has led to their wide deployment. Such systems, however, are not inherently reliable and cannot tolerate external faults. This thesis presents a novel model-based approach for exploiting application features and other characteristics to categorize and create AEMs (Application Execution Model). This work realizes MPI/FT(tm), a middleware derived by selective incorporation of fault-tolerant features into MPI/Pro(tm) for two relevant AEMs. This thesis proves the following hypothesis: it is possible to successfully complete select MPI applications even in the presence of external faults, and such fault-tolerance can be achieved with acceptable performance overhead. This work defines parameters to measure the impact of this middleware on performance through faultree and fault-injected overheads. The hypothesis is validated through experimentation and measurement of sample MPI applications for two AEMs.

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This thesis project is a comprehensive practice to improve a research concept vehicle in both hardware and software aspects. The hardware of the friction brake system is improved to have higher stability and accuracy. The brake force distribution function is implemented to optimize the brake control system. A fault tolerant function based on the Pseudo-inverse control allocation strategy is designed, implemented, and tested to compensate for sudden fault in wheels when driving. / Detta examensarbete är ett omfattande arbete att förbättra ett forskningsfordon som heter Research Concept Vehicle (RCV) gällande både hårdvara och mjukvara. Hårdvaran i bromssystemet har förbättrats för bättre stabilitet och noggranhet. Bromskraftsfördelningsfuktionen har implementerats för att optimera bromssystemets reglering. En feltolerant funktion baserad på pseudo-invers reglering har också implementerats och testats för att kunna kompensera plötsliga felfall i hjul under körning.

Automatic control techniques have been widely employed in industry to increase efficiency and profitability of the processes. However, reliability on automation increases the susceptibility of the system to faults in major control equipment such as actuators and sensors. This realization has motivated design of frameworks for fault detection and isolation (FDI) and fault tolerant control (FTC). The success of these FDI and FTC mechanisms is contingent on their ability to handle complexities associated with process systems such as nonlinearity, uncertainty, high dimensionality and the resulting effects of the existence of complexity in system structure such as faults that cannot be isolated. Motivated by the above considerations, this thesis considers the problem of fault diagnosis and fault tolerant control for complex process systems. First, an FDI framework is designed that can detect and confine possible locations for faults that cannot be isolated. Next, the problem of simultaneous actuator and sensor fault diagnosis for nonlinear uncertain systems. The key idea is to design FDI filters in a way they account for the impact of uncertainty explicitly. This work then considers the problem of simultaneous fault diagnosis in nonlinear uncertain networked systems. FDI is achieved using a distributed architecture, comprised of a bank of local FDI (LFDI) schemes that communicate with each other. The efficacy of the proposed FDI methodologies is shown via application to a number of chemical process examples. Finally, an integrated framework is proposed for fault diagnosis and fault tolerant control of variable air volume (VAV) boxes, a common component of heating, ventilation and air conditioning (HVAC) systems as an industrial case study of complex systems. The advantages of the proposed framework are diagnosing multiple faults and handling faults in stuck dampers using a safe parking strategy with energy saving capability. / Thesis / Doctor of Philosophy (PhD) / Automation is the key to increase efficiency and profitability of the processes. However, as the level of automation increases, major control equipment are more prone to faults. Thus, fault detection and isolation (FDI) and fault tolerant control (FTC) frameworks are required for fault handling. Fault handling, however, can only be efficiently achieved if the designed FDI and FTC frameworks are able to deal with complexities arising in process systems such as nonlinearity, uncertainty, high dimensionality and the resulting effects of the existence of complexity in system structure such as faults that cannot be isolated. This motivates design of FDI and FTC frameworks for complex process systems. First, FDI frameworks are presented that can diagnose faults in the presence of complexities mentioned above. Then, an integrated framework is designed for diagnosing and handling faults of heating, ventilation and air conditioning (HVAC) systems as an industrial case study of complex process systems.