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Yngve Hafting

Lecturer - Research Group for Robotics and Intelligent Systems

Email yngveha@ifi.uio.no

Phone +47 22 85 11 83

Mobile phone +47 41 12 08 78

Room 4114

Username

Visiting address Gaustadalléen 23 B Ole-Johan Dahls hus 0373 Oslo

Postal address Postboks 1080 Blindern 0316 Oslo

Press photo Download business card

Courses

IN2060 Digital Design and Computer Architecture (Autumn)
IN3160 Digital System Design (Spring)

Roles

Lecturer at the Research Group for Robotics and Intelligent Systems

Background

Master degree in measurement and instrumentation, Dept. of Physics, UiO 2000. I started working as a hardware and software developer in Mikrokrets followed by a brief stay in Kongsberg Devotek, later I took PPU and became teacher in Physics, Science and Mathematics, working at Oslo Private Gymnasium and Lørenskog Upper Secondary School. I started working at the Department of informatics in 2008 and have worked there as Head Engineer and later Senior Engineer. From 2018 i switched position to Lecturer at the Department of Informatics.

At the Department of Informatics I have worked with developing hardware and software, 3D-design and -printing, teaching and developing the lab part of INF5460 (measuring capacitive and magnetically induced noise in different cable setups using selected frequencies), purchases and software and lab maintenance for ROBIN. In 2010 I became safety delegate for labs at the Department of Informatics. Since then I have been Deputy and later Senior Safety Delegate at the Faculty of Mathematics and Natural Sciences, until I became Deputy Senior Safety for the University of Oslo 2014-2018. As a safety delegate I have been involved with the work environment committees at the Department, Faculty and the University, and participated in various Groups in UIO biggest ongoing building project, the New Life-science building.

Since 2018 i have been working as a lecturer and have been teaching in the following courses: Mechatronics (IN1080) , Rapid Prototyping (IN5207, IN5590), Digital System Design (IN3430), Digital Design and Computer Architecture (IN2060). I have also revised the course in Digital System Design (previously INF3430, now IN3160). I have had the role as program leader for the bachelor and master study program "Robotics and intelligent systems" from 2019 to 2025.

Tags: Mechatronics, Digital Design

Hafting, Yngve & Wold, Alexander (2025). Testbench analysis using non-invasive fault injection. Proceedings of the IEEE International Parallel and Distributed Processing Symposium Workshops (IPDPSW). ISSN 2639-3867. 2025, p. 1250–1256. doi: 10.1109/ipdpsw66978.2025.00203. Full text in Research Archive Show summary
Detection and correction of implementation defects in an early stage of development is known to reduce development time and cost. Verification is an integral part of hardware development. Errors in the verification testbench can lead to a reported false higher functional coverage metric and undiscovered defects in the implementation.One technique to address this is to verify the implementation using a validated testbench. However, validated testbenches are typically not available for sub-modules in an implementation. A validated testbench can be obtained in multiple ways, including undertaking systematic verification of its correctness.In the research presented here, we introduce an integrated methodology to validate the testbench prior to functional verification of the implementation. Module output or state is altered using non-invasive fault injection at simulation time. This is done to validate the correctness of the testbench. Examples of how this is implemented are given in both VHDL and Python. This approach results in a testbench where it is demonstrated (through simulation) that design defects will be detected. Furthermore, by ensuring the correctness of the testbench, a higher confidence in functional coverage is achieved.The techniques presented in this paper were implemented in a testbench used to ensure safe operation of a pulse width modulation circuit for motor control in a course assignment. A brief discussion of how and why this was done is presented.
Ahmadi, Arash; Till, Katharina; Hafting, Yngve; Schuttpelz, Mark; Bjørås, Magnar & Glette, Kyrre [Show all 9 contributors for this article] (2019). Additive manufacturing of laminar flow cells for single-molecule experiments. Scientific Reports. 9(1). doi: 10.1038/s41598-019-53151-z. Full text in Research Archive Show summary
A microfluidic laminar flow cell (LFC) forms an indispensable component in single-molecule experiments, enabling different substances to be delivered directly to the point under observation and thereby tightly controlling the biochemical environment immediately surrounding single molecules. Despite substantial progress in the production of such components, the process remains relatively inefficient, inaccurate and time-consuming. Here we address challenges and limitations in the routines, materials and the designs that have been commonly employed in the field, and introduce a new generation of LFCs designed for single-molecule experiments and assembled using additive manufacturing. We present single- and multi-channel, as well as reservoir-based LFCs produced by 3D printing to perform single-molecule experiments. Using these flow cells along with optical tweezers, we show compatibility with single-molecule experiments including the isolation and manipulation of single DNA molecules either attached to the surface of a coverslip or as freely movable DNA dumbbells, as well as direct observation of protein-DNA interactions. Using additive manufacturing to produce LFCs with versatility of design and ease of production allow experimentalists to optimize the flow cells to their biological experiments and provide considerable potential for performing multi-component single-molecule experiments.
Nymoen, Kristian; Tørresen, Jim; Song, Sichao & Hafting, Yngve (2014). Funky Sole Music: Gait Recognition and Adaptive Mapping. In Caramiaux, Baptiste; Tahiroğlu, Koray; Fiebrink, Rebecca & Tanaka, Atau (Ed.), Proceedings of the International Conference on New Interfaces For Musical Expression. Goldsmiths, University of London. ISSN 9781906897291. p. 299–302. Full text in Research Archive Show summary
We present Funky Sole Music, a musical interface employing a sole embedded with three force sensitive resistors in combination with a novel algorithm for continuous movement classification. A heuristics-based music engine has been implemented, allowing users to control high-level parameters of the musical output. This provides a greater degree of control to users without musical expertise compared to what they get with traditional media playes. By using the movement classification result not as a direct control action in itself, but as a way to change mapping spaces and musical sections, the control possibilities offered by the simple interface are greatly increased.
Tørresen, Jim; Hafting, Yngve & Nymoen, Kristian (2013). A new wi-fi based platform for wireless sensor data collection. In Proceedings of the International Conference on New Interfaces For Musical Expression. In Yeo, Woon Seung; Lee, Kyogu; Sigman, Alexander; Ji, Haru & Graham, Wakefield (Ed.), Proceedings of the International Conference on New Interfaces For Musical Expression. Korea Advance Institute of Science and Technology. p. 337–340. Full text in Research Archive

View all works in NVA

Hafting, Yngve (2026). Building a RISC-V processor from scratch. doi: https:/github.com/yngveha/seminars/blob/main/2026/inventas/RISCY-Building%20a%20RISC-V%20processor%20from%20scratch_20261014.pdf. Full text in Research Archive Show summary
The session focuses on implementation choices, clean RTL design principles, and how complete control over the RTL enables optimization, custom instructions, and application-specific processor architectures.
Hafting, Yngve (2026). COCOTB: Starting on the right foot. doi: https:/github.com/yngveha/seminars/blob/main/2026/inventas/cocotb-starter.pdf. Full text in Research Archive Show summary
How cocotb manages timing and the event queue with code examples. Principles that ensure predictability in both stimuli generation and checker algorithms. Differentiating between called and triggered checks to achieve checks that are independent of stimuli.
Hafting, Yngve (2026). FIAT-testing: Testbench analysis using non-invasive fault injection. doi: https:/www.fpga-forum.no/. Full text in Research Archive Show summary
Verification is an integral part of hardware development. Detection and correction of implementation defects in an early stage of development is known to reduce development time and cost. Errors in the verification testbench can lead to a reported false higher functional coverage metric and undiscovered defects in the implementation. We introduce an integrated methodology to validate the testbench prior to functional verification of the implementation. To validate testbench correctness, module output or state is altered by using non- invasive fault injection. Applied right, this methodology come at a low cost in terms of human effort and computation. Examples of how this is implemented are given in both VHDL and Python for both RTL and TLM based testbenches. Demo video and examples can be found at: https://github.com/yngveha/FIAT
Hafting, Yngve (2025). Experiences from teaching digital system design using Python-based testbenches. Full text in Research Archive
Hafting, Yngve (2024). Good practice in teaching digital system design? Full text in Research Archive
Hafting, Yngve (2024). Python testbenches in FPGA teaching at UiO. Full text in Research Archive
Vandorpe, Jochen; Vliegen, Jo; Koch, Dirk; Hafting, Yngve & Tørresen, Jim (2013). Remote FPGA design through eDiViDe - European Digital Virtual Design Lab. Full text in Research Archive
Utheim, Eric B.; Hafting, Yngve; Høvin, Mats Erling; Gellein, Lars Tore; Boivie, Klas Magnus & Kwekkeboom, Persijn David (2013). Større enn internett? [Internet]. E24.no. Full text in Research Archive Show summary
En ny industriell revolusjon, noe alle vil ha i hjemmet om få år, en oppfinnelse på størrelse med internett – eller en ubetydelig hype? Er 3D-printing det neste som vil forandre hverdagen din?
Kjos, Eirik & Hafting, Yngve (2013). Kveldsåpent. [Radio]. NRK P1. Full text in Research Archive
Magnussen, Dag Løvold & Hafting, Yngve (2013). Vitenselskapet. [Radio]. Radio Nova. Full text in Research Archive
Lystad, Karina; Jahr, Martin; Christensen, Mikkel Killingmoe; Dæhlen, Morten; Glette, Kyrre Harald & Hafting, Yngve [Show all 7 contributors for this article] (2012). Her printer Mikkel (16) ut en dommerfløyte i 3D. [Internet]. NRK.no. Full text in Research Archive Show summary
3D-printing har blitt kalt en ny industriell revolusjon. I fremtiden kan vi printe ut alt vi trenger fra en hjemmeprinter. 16 år gamle Mikkel Killingmoe Christensen har allerede begynt.
Klem, Agnes; Hoff, Jon Roar; Tørresen, Jim; Hafting, Yngve; Elle, Ole Jakob & Mathiassen, Kim [Show all 9 contributors for this article] (2012). Robotikk og moral. [Internet]. Universitas.no. Full text in Research Archive Show summary
Reportasjen er også trykket i papirutgaven av Universitas 28.11.2012. Elektronisk versjon av papirutaven er tilgjengelig på http://static.universitas.no/docs/pdf/universitas_2012-34.pdf