Hashem Haghbayan

• Doctor of Engineering
• University of Turku

In recent years, the deployment of mobile robots in various industries, from manufacturing to healthcare, has seen a significant rise. This necessitates an in-depth understanding of their energy consumption patterns to optimize efficiency and sustainability. This report presents a comprehensive platform developed to measure and analyze the electric...

The paper presents a comparative study of two methods for identifying equivalent circuit models (ECM) parameters for battery modeling. In order to comprehensively compare the methods, the electrical behavior of a lithium titanate (LTO), a lithium iron phosphate (LFP), a lithium nickel manganese cobalt oxides (NMC), and a nickel cobalt aluminium (NC...

Energy management of mechanical and cyber parts in mobile robots consists of two processes operating concurrently at runtime. Both the two processes can significantly improve the robots' battery lifetime and further extend mission time. In each process, information on energy consumption of one of the two parts is captured and analyzed to manipulate...

Run-time resource management is fundamental for efficient execution of workloads on Chip Multiprocessors. Application- and system-level requirements (e.g. on performance vs. power vs. lifetime reliability) are generally conflicting each other, and any decision on resource assignment, such as core allocation or frequency tuning, may positively affec...

Batteries are becoming one important part to power varieties of devices including electro-mechanical robots and vehicles. Understanding the behaviour of the battery and its state of charge can help the control systems to significantly improve the decision-making and risk management at run-time, after the device starts its operation. Currently, ther...

In this paper, the reconfiguration of swarms of unmanned aerial vehicles after simultaneous failures of multiple nodes is considered. The objectives of the post-failure reconfiguration are to provide collision avoidance and smooth energy-efficient movement. To incorporate such a mechanism, three different failure recovery algorithms are proposed na...

Collaborative robots represent an evolution in the field of swarm robotics that is pervasive in modern industrial undertakings from manufacturing to exploration. Though there has been much work on path planning for autonomous robots employing floor plans, energy-efficient navigation of autonomous robots in unknown environments is gaining traction....

The focus of this work is to present a novel methodology utilizing the classical SLAM technique and integrating with the swarm agents for localizing, guiding, and retrieving the agents towards the optimal path while using only necessary tracker-based information between the agents. While navigating in an unknown environment with no-prior map inform...

Finding the optimal distribution of exerted effort by an athlete in competitive sports has been widely investigated in the fields of sport science, applied mathematics and optimal control. In this article, we propose a reinforcement learning-based solution to the optimal control problem in the running race application. Well-known mathematical model...

We propose an adaptive run-time failure recovery control system for quadcopter drones, based on remote real-time processing of measurement data streams. Particularly, the measured RPM values of the quadcopter motors are transmitted to a remote machine which hosts failure detection algorithms and performs recovery procedure. The proposed control sys...

The focus of this work is to present a novel methodology utilizing the classical SLAM technique and integrating with the swarm agents for localizing, guiding, and retrieving the agents towards the optimal path while using only necessary tracker-based information between the agents. While navigating in an unknown environment with no-prior map inform...

This work focuses on low-energy collision avoidance and formation maintenance in autonomous swarms of drones. Here, the two main problems are: 1) how to avoid collisions by temporarily breaking the formation, i.e., collision avoidance reformation, and 2) how do such reformation while minimizing the deviation resulting in minimization of the overall...

In this paper, an adaptable fuzzy control mechanism for an Unmanned Aerial Vehicle (UAV) to manipulate its mechanical actuators is provided. The mission (landing) for the UAV is defined to track (land on) an object that is detected by a deep learning object detection algorithm. The inputs of the controller are the location and speed of the UAV that...

Understanding battery capacity degradation is instrumental for designing modern electric vehicles. In this paper, a Semi-Empirical Model for predicting the CapacityLoss of Lithium-ion batteries during Cycling and Calendar Aging is developed. In order to predict the Capacity Loss with a high accuracy, battery operation datafrom different test condit...

We propose an adaptive run-time failure recovery control system for quadcopter drones, based on remote real-time processing of measurement data streams. Particularly, the measured RPM values of the quadcopter motors are transmitted to a remote machine which hosts failure detection algorithms and performs recovery procedure. The proposed control sys...

We propose an energy-efficient controller to minimize the energy consumption of a mobile robot by dynamically manipulating the mechanical and computational actuators of the robot. The mobile robot performs real-time vision-based applications based on an event-based camera. The actuators of the controller are CPU voltage/frequency for the computatio...

The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays, resulting in a reduced overall mission time and lower energy consumption. To handle this, the problem is divided i...

This article describes ModelConductor-eXtended (MCX), which is an open-source software architecture for digital twins. The MCX framework facilitates co-execution of, and asynchronous data communication between, physical systems and their digital simulation models. MCX supports running FMUs (simulation models packaged according to the FMI specificat...

Understanding battery capacity degradation is instrumental for designing modern electric vehicles. In this paper, a Semi-Empirical Model for predicting the Capacity Loss of Lithium-ion batteries during Cycling and Calendar Aging is developed. In order to redict the Capacity Loss with a high accuracy, battery operation data from different test condi...

This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation while minimizing the overall deviation of the drones and the overall time, i.e., without slowing down. To addres...

This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation while minimizing the overall deviation of the drones and the overall time, i.e. without slowing down. To address...

The focus of this work is to analyze the behavior of an autonomous swarm, in which only the leader or a dedicated set of agents can take intelligent decisions with other agents just reacting to the information that is received by those dedicated agents, when the swarm comes across stationary or dynamic obstacles. An energy-aware information managem...

This work focuses on low-energy collision avoidance and formation maintenance in autonomous swarms of drones. Here, the two main problems are: 1) how to avoid collisions by temporarily breaking the formation, i.e., collision avoidance reformation, and 2) how do such reformation while minimizing the deviation resulting in minimization of the overall...

The focus of this work is to analyze the behaviour of an autonomous swarm, in which only the leader or a dedicated set of agents can take intelligent decisions with other agents just reacting to the information received by those dedicated agents, when the swarm comes across stationary or dynamic obstacles. An energy-aware information management alg...

Event-based cameras are vision devices that transmit only brightness changes with low latency and ultra-low power consumption. Such characteristics make event-based cameras attractive in the field of localization and object tracking in resource-constrained systems. Since the number of generated events in such cameras is huge, the selection and filt...

Event cameras, i.e., the Dynamic and Active-pixel Vision Sensor (DAVIS) ones, capture the intensity changes in the scene and generates a stream of events in an asynchronous fashion. The output rate of such cameras can reach up to 10 million events per second in high dynamic environments. DAVIS cameras use novel vision sensors that mimic human eyes....

The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays, resulting in a reduced overall mission time and lower energy consumption. To handle this, the problem is divided i...

One of the important challenges in an autonomous swarm of drones is the dependability of the swarm to continue its mission. Engine failure or propeller disintegration poses a significant risk to the operation of each node of the swarm and if it happens the system should be able to tolerate such malfunction by reconfiguring the swarm and reforming i...

Event-based cameras are vision devices that transmit only brightness changes with low latency and ultra-low power consumption. Such characteristics make event-based cameras attractive in the field of localization and object tracking in resource-constrained systems. Since the number of generated events in such cameras is huge, the selection and filt...

Event cameras, i.e., the Dynamic and Active-pixel Vision Sensor (DAVIS) ones, capture the intensity changes in the scene and generates a stream of events in an asynchronous fashion. The output rate of such cameras can reach up to 10 million events per second in high dynamic environments. DAVIS cameras use novel vision sensors that mimic human eyes....

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). However, the detection of obstacles especially during night-time is still a challenging task since the lighting conditions are not sufficient for traditional cameras to function properly. Therefore, we exploit the powerful attributes of ev...

This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation while minimizing the overall deviation of the drones and the overall time, i.e., without slowing down. To addres...

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). However, the detection of obstacles especially during night-time is still a challenging task since the lighting conditions are not sufficient for traditional cameras to function properly. Therefore, we exploit the powerful attributes of ev...

Event cameras, i.e., the Dynamic and Active-pixel VisionSensor (DAVIS) ones, capture the intensity changes in the scene and generates a stream of events in an asynchronous fashion. The output rate of such cameras can reach up to 10 million events per second in high dynamic environments. DAVIS cameras use novel vision sensors that mimic human eyes....

Two important aspects in dealing with autonomous navigation of a swarm of drones are collision avoidance mechanism and formation control strategy; a possible competition between these two modes of operation may have negative implications for success and efficiency of the mission. This issue is exacerbated in the case of distributed formation contro...

This work focuses on the development of an effective collision avoidance algorithm that detects and avoids obstacles autonomously in the vicinity of a potential collision by using a single ultrasonic sensor and controlling the movement of the vehicle. The objectives are to minimise the deviation from the vehicle's original path and also the develop...

In Namibia, agricultural production depends on small-scale farms. One of the main threats to these farms is the birds’ attack. There are various traditional methods that have been used to control these pest birds such as making use of chemicals, fires, traps, hiring people to scare the birds, as well as using different aspects of agricultural modif...

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). However, the detection of obstacles especially during night-time is still a challenging task since the lighting conditions are not sufficient for traditional cameras to function properly. Therefore, we exploit the powerful attributes of ev...

The development of a navigation system for the landing of a swarm of drones on a movable surface is one of the major challenges in building a fully autonomous platform. Hence, the purpose of this study is to investigate the behaviour of a swarm of ten drones under the mission of soft landing on a movable surface that has a linear speed with the eff...

This work focuses on an autonomous swarm of drones, a multi-agent system, where the leader agent has the capability of intelligent decision making while the other agents in the swarm follow the leader blindly. The proposed algorithm helps with cost cutting especially in the multi-drone systems, i.e., swarms, by reducing the power consumption and pr...

This work focuses on an autonomous swarm of drones, a multi-agent system, where the leader agent has the capability of intelligent decision making while the other agents in the swarm follow the leader blindly. The proposed algorithm helps with cost cutting especially in the multi-drone systems, i.e., swarms, by reducing the power consumption and pr...

Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). A lot of work is being done to make the CAS as safe and reliable as possible, necessitating a comparative study of the recent work in this important area. The paper provides a comprehensive review of collision avoidance strategies used for...

A key problem in cooperative robotics is the maintenance of a geometric configuration during movement. As a solution for this, a multi-layered and distributed control system is proposed for the swarm of drones in the formation of hierarchical levels based on the leader–follower approach. The complexity of developing a large system can be reduced in...

Retinal cameras, such as dynamic vision sensors (DVF), transmit asynchronous events with ultra-low latency (\(\sim \)10 \(\upmu \)s) only at significant luminance changes, unlike traditional CMOS cameras which transmit the absolute brightness of all pixels including redundant backgrounds. Due to these significant characteristics, they offer great p...

Recent technical advancements in both fields of unmanned aerial vehicles (UAV) control and artificial intelligence (AI) have made a certain realm of applications possible. However, one of the main problems in integration of these two areas is the bottle-neck of computing AI applications on UAV’s resource limited platform. One of the main solution f...

Visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) have gained a lot of attention in the field of autonomous robots due to the high amount of information per unit cost vision sensors can provide. One main problem in VO techniques is the high amount of data that a pixelated image has, affecting negatively the overall perf...

Visual odometry (VO) is one of the most challenging techniques in computer vision for autonomous vehicle/vessels. In VO, the camera pose that also represents the robot pose in ego-motion is estimated analyzing the features and pixels extracted from the camera images. Different VO techniques mainly provide different trade-offs among the resources th...

The unmanned aerial vehicles or drones come in a great diversity depending upon the basic frameworks with their particular specifications. The purpose of this study is to analyse the core characteristics of the swarming drones and measure the public awareness levels with respect to these swarms. To achieve these goals, the functionality, problems,...

Distributed formation control and obstacle avoidance are two important challenges in autonomous navigation of a swarm of drones and can negatively affect each other due to possible competition that arises between them. In such a platform, a multi-priority control strategy is needed to be executed in each node to dynamically optimize the trade-offs...

The development of a navigation system is one of the major challenges in building a fully autonomous platform. Full autonomy requires a dependable navigation capability not only in a perfect situation with clear GPS signals, but also in situations where the GPS is unreliable. Therefore, self-contained odometry systems have attracted much attention...

Robust real-time object detection and tracking are challenging problems in autonomous transportation systems due to operation of algorithms in inherently uncertain and dynamic environments and rapid movement of objects. Therefore, tracking and detection algorithms must cooperate with each other to achieve smooth tracking of detected objects that la...

Limitation on power budget in many-core systems leaves a fraction of on-chip resources inactive, referred to as dark silicon. An efficient run-time system that manages critical interlinked parameters of power, performance and temperature can enhance resource utilization and mitigate dark silicon. In this paper, we present a run-time resource manage...

This paper presents a novel approach for test generation and test scheduling for multi-clock domain SoCs. A concurrent hybrid BIST architecture is proposed for testing cores. Furthermore, a heuristic for selecting cores to be tested concurrently and order of applying test patterns is proposed. Experimental results show that the proposed heuristics...

Aggressive technology scaling has enabled the fabrication of many-core architectures while triggering challenges such as limited power budget and increased reliability issues, such as aging phenomena. Dynamic power management and runtime mapping strategies can be utilized in such systems to achieve optimal performance while satisfying power constra...

Power capping techniques based on dynamic voltage and frequency scaling (DVFS) and power gating (PG) are oriented toward power actuation, compromising on performance and energy. Inherent error resilience of emerging application domains, such as Internet-of-Things (IoT) and machine learning, provides opportunities for energy and performance gains. L...

A swimmer detection and tracking is an essential first step in a video-based athletics performance analysis. A real-time algorithm is presented, with the following capabilities: performing the planar projection of the image, fading the background to protect the intimacy of other swimmers, framing the swimmer at a specific swimming lane, and elimina...

New power management challenges in networked many-core systems arise when limitations of the dark silicon era come into reality. The main goal in the power management process is to achieve optimal power-performance efficiency considering thermal design power (TDP) budget. This necessitates: (1) monitoring several system characteristics including bo...

Aggressive technology scaling and intensive computations have caused acceleration in the aging and wear-out process of digital systems, hence leading to an increased occurrence of premature permanent faults. Online testing techniques are becoming a necessity in current and near future digital systems. However, state-of-the-art techniques are not aw...

An efficient run-time application mapping approach can considerably enhance resource utilization and mitigate the dark silicon phenomenon. In this chapter, we present a dark silicon aware run-time application mapping approach that patterns active cores alongside the inactive cores in order to evenly distribute power density across the chip. This ap...

Power Capping techniques are used to restrict power consumption of computer systems to a thermally safe limit. Current many-core systems employ dynamic voltage and frequency scaling (DVFS), power gating (PG) and scheduling methods as actuators for power capping. These knobs are oriented towards power actuation, while the need for performance and en...

Power management of networked many-core systems with runtime application mapping becomes more challenging in the dark silicon era. It necessitates considering network characteristics at runtime to achieve better performance while honoring the peak power upper bound. On the other hand, power management has a direct effect on chip temperature, which...

This paper presents a formal technique to verify and debug division circuits on fixed point numbers. The proposed technique is based on a reverse-engineering mechanism of obtaining a high level model of the gate level implementation and also introducing an intermediate representation of the specification that makes equivalence checking between two...

Increasing dynamic workloads running on NoC-based many-core systems necessitates efficient runtime mapping strategies. With an unpredictable nature of application profiles, selecting a rational region to map an incoming application is an NP-hard problem in view of minimizing congestion and maximizing performance. In this paper, we propose a proacti...

A novel high-level fault model to accelerate test process of on-chip communication structures for SoCs is proposed. To this end, bus components are modeled using a simple, yet efficient, graph-based technique and all possible faults on the graph nodes are probed. The proposed method is optimized in terms of test time. The method applies the same te...

Sequential circuit testing has been recognized as one of the most difficult problems in the area of fault detection. Controllability and observability of a sequential circuit is low because of their internal states. Therefore finding suitable sequence of test patterns is becoming increasingly complex. We have proposed a method to estimate an expect...

Aggressive technology scaling triggers novel challenges to the design of multi-/many-core systems, such as limited power budget and increased reliability issues. Today's many-core systems employ dynamic power management and runtime mapping strategies trying to offer optimal performance while fulfilling power constraints. On the other hand, due to t...

Dark Silicon issue stresses that a fraction of silicon chip being able to switch in a full frequency is dropping and designers will soon face a growing underutilization inherent in future technology scaling. On the other hand, by reducing the transistor sizes, susceptibility to internal defects increases and large range of defects such as aging or...

This paper presents a formal approach to verify and debug division circuits. The proposed technique is based on a reverse-engineering mechanism where a high-level model of the gate-level implementation is obtained and then an intermediate representation of the specification is introduced. This process makes equivalence checking between two models p...

Dark Silicon denotes the phenomenon that, due to thermal and power constraints, the fraction of transistors that can operate at full frequency is decreasing with each technology generation. We propose a PID (Proportional Integral Derivative) controller based dynamic power management method that considers an upper bound on power consumption (called...

As the dark silicon era is about to embrace, it is not anymore possible to attain commensurate performance benefits by increasing the number of transistors due to thermal design power. Dark Silicon issue stresses that a fraction of silicon chip being able to switch in full frequency is dropping and designers will soon face the growing underutilizat...

Arithmetic circuits require a verification process to prove that the gate level circuit is functionally equivalent to a high level specification or not. Furthermore, if two models are not equivalent, we need to automatically localize bugs and correct them with minimum user intervention. This paper presents a formal technique to verify and debug ari...

In this paper we present a new fault model for testing standard On-Chip buses using a graph model. This method will be optimized for speed of testing. Using AMBA-AHB as the experimental result, the proposed fault model shows efficiency in comparison with corresponding stuck-at fault testing.

In this paper we present a new fault model for testing bus components using their functionality. With the aim of a new fault model definition all components in a bus except cores of the SoC will be tested as fast as possible. According to the proposed method in this paper, at first, wires and small components will be tested by marching test pattern...