Decoupling Among Design Concerns

Size: px
Start display at page:

Download "Decoupling Among Design Concerns"

Transcription

1 Decoupling Among Design Concerns Nicholas Kottenstette, Xenofon Koutsoukos, Janos Sztipanovits ISIS, Vanderbilt University Third International Workshop on Foundations and Applications of Component-based Design Atlanta, GA October 19, 2008 Sztipanovits

2 Overview Model-Based Design and Platforms Problems with Composition in Heterogeneous Systems Example for Orthogonalization: Passivity Example for Decoupling: Robust Control Design Summary Sztipanovits: 2

3 Model-Based Design & Platforms Key Idea: Manage design complexity by creating abstraction layers in the design flow. (Platform-based design: Alberto Sangiovanni-Vincentelli) Abstraction layers define platforms. Dynamics models define the composition of functions that describe system behavior. Abstractions are linked through mapping. Platform mapping Software architecture model defines the software components and their interaction. Abstraction layers allow the verification of different properties. System-level architecture defines a set of concurrent functional units, where the software architecture can be deployed. Sztipanovits: 3

4 FRODO: Experimental Toolchain Overview Functional Design Plant and Controller modeling Simulink/Stateflow SW/System Design Componentization Architecture modeling Deployment modeling Analysis Platform effects Model-based Code Generation Schedule Generation Schedule SW Platform Graham Hemingway, Gabor Karsai, Nicholas Kottenstette, Nag Mahadevan, Andras Nadas, Sandeep Neema, Harmon Nine, Joe Porter, Janos Sztipanovits, Ryan Thibodeaux, Peter Volgyesi Sztipanovits: 4

5 Modeling Languages for SW/System Design (ESMoL) Component models: imported Simulink subsystems Software architecture models: dataflow diagram depicting signal flows and components Hardware architecture models: processor nodes, communication buses, sensors and actuators Deployment models: (TT) tasks hosting components, interfacing via messages, mapped to processor nodes Sztipanovits: 5

6 Semantics for ESMoL ESMoL: Embedded System Modeling Language Components: Synchronous dataflow network + Statecharts Run at a fixed rate - periodic execution: x(k+1) = f(x(k),u(k)) State update y(k+1) = g(x(k),u(k)) Output Update Responsible for (periodic) I/O interactions Component architecture: Components are scheduled according to their rates Communication is facilitated by time-triggered messages Hardware platform: Each node runs a cyclic, static, timed-triggered schedule Nodes communicate via time-triggered messages Sztipanovits: 6

7 Functional design models into implementation models Simulink models translated into ESMoL functional models Syntactical translation Only discrete-time, fixed, single-rate subsystems and Stateflow blocks Produces an XML representation of the Simulink/Stateflow model (suitable for other, XMLbased tools) Sztipanovits: 7

8 Code Generation Functional code generator Preprocessing: type inference on the models Translation: based on graph transformations (uses the GReAT toolsuite) Retargetable code emitter: restricted/safe subset of C or Java [fixed-size arrays, no dynamic memory allocation] 3 generators: Simulink, Stateflow, Embedded Matlab Transformation Program with Rewriting Rules Metamodel of Executable Code Integration code generator Produces platform-specific integration code that glues functional code to platform API-s. Restricted C (or Java) Code Sztipanovits: 8

9 Schedule Generation Sztipanovits: 9 Time-triggered schedule generation: Components are periodically executed tasks: Read/Execute-Update/Write Tasks are statically scheduled, do not preempt Communication is periodically executed Read buffer/transmit Receive/Write buffer Messages are statically scheduled, do not preempt Assumptions: fixed and known Task rates and WCET Message transfer times and dependencies Solution: The scheduling problem is translated into finite-domain constraint programming problem the valuation of variables gives the schedule. xij, c+ xkj, ( i k) k Based on: Off-Line Scheduling of a Real-Time I[ xi, j, xi, j+ Di] = System j Klaus Schild, Jörg Würtz Constraint-Based Proceedings of the 1998 ACM Scheduling Symposium on Applied Computing, SAC98:29-38, Atlanta, Georgia, ACM

10 Analysis Platform effects analysis TrueTime model for platform Generator to build Simulink model for functional model + platform model Continuous time, highprecision Simulink simulation allows studying subtle platform effects Sztipanovits: 10

11 Overview Model-Based Design and Platforms Problems with Composition in Heterogeneous Systems Example for Orthogonalization: Passivity Example for Decoupling: Robust Control Design Summary Sztipanovits: 11

12 Concern with Design Concerns Key Idea: Manage design complexity by creating layers of abstractions in the design flow.but it works only if the layers are decoupled. Key modeling properties depend on assumptions on other layers. Controller dynamics is developed without considering implementation uncertainties (e.g. word length, clock accuracy ) optimizing performance. Abstractions layers are linked through a web of assumptions. Abstraction layers allow the verification of different properties but change on any layers may require re-verification. Platform mapping Software architecture models are developed to meet functional specifications, systems engineering constraints, cost constraints (and others). System-level architecture defines implementation platform configuration. If fixed-point arithmetic does not provide required numerical accuracy, time constraints may require modifying platform configuration that will trigger reverification on all levels. Sztipanovits: 12

13 Composition and Heterogeneity Interdependences across design concerns may destroy compositionality Compositionality properties in LTI systems will not work if implementation side effects of components makes systems nonlinear and time variant. We need to simplify the design flow Orthogonalization: selection of architectures that preserve essential properties w.r.t. implementational uncertainties Robust design: components are design spaces Sztipanovits: 13

14 Overview Model-Based Design and Platforms Problems with Composition in Heterogeneous Systems Example for Orthogonalization: Passivity Example for Decoupling: Robust Control Design Summary Sztipanovits: 14

15 Background on Passivity Various mathematical definitions A passive system only stores and dissipates energy but cannot generate energy of its own Passive systems interact in a stable manner When connected in either a parallel or negative feedback manner the overall system remains passive Passive control theory applies to Linear and nonlinear systems Continuous and discrete-time systems Sztipanovits: 15

16 Challenge: Network Uncertainties Network uncertainties such as time-varying delays and packet loss cause significant challenges Passive systems provide inherent safety that is fundamental in building systems that are insensitive to implementation uncertainties Wave digital filters (Fettweis) Teleoperation over the Internet (Niemmeyer) Passive control of continuous systems Key idea: Use passivity-based controller design to orthogonalize stability (a fundamental safety property) and time varying delays caused by implementation platforms Passive wireless communication (Nicholas Kottenstette, Panos Antsaklis) Sztipanovits: 16

17 Passivity-Based Architecture Robotic System Wave Variables transmitted over Wireless Network Digital Controller Wave variables were introduced by Fettweis in order to circumvent the problem of delay-free loops and guarantee that the implementation of wave digital filters is realizable Wave variables define a bilinear transformation under which a stable minimum phase continuous-time system is mapped to a stable minimum phase discrete-time system The transformation preserves passivity Sztipanovits: 17

18 Computing Wave Variables wave variables Network delays Nicholas Kottenstette, Xenofon Koutsoukos, Joe Hall, Panos Antsaklis, Janos Sztipanovits: Passivity-Based Design of Wireless Networked Control Systems for Robustness to Time-Varying Delays, RTSS, 2008 Sztipanovits: 18

19 Experimental Setup 6 DOF Pioneer 3 robotic arm Matlab/Simulink model Robotics Toolbox TrueTime Toolbox b wireless network Digital controller Node 1 P3 Arm Node 2 Disturbance node Node 3 Robot and controller are 10m apart; disturbance node is in the middle Packet size: 384 bits (6 double variables) bit header Reference: Go to [ ] in 2, 3, 4 sec Sztipanovits: 19

20 Sztipanovits: 20 Simulation Results

21 Overview Model-Based Design and Platforms Problems with Composition in Heterogeneous Systems Example for Orthogonalization: Passivity Example for Decoupling: Robust Control Design Summary Sztipanovits: 21

22 Decoupling Using Robust Control (Boyd, Skaf Stanford) Plant Dynamics Models C nom, L,φ Software Architecture Models Controller with Implementatio n Controller Modelsdesign System-Level Models with Timing Models System-level design Robust control methods extended to implementation uncertainties. Result of the design is a nominal controller, C nom, a Lyapunov Performance Certificate, L, (in LMI form) and an implementation complexity measure, Φ. (See Boyd and Skaf, Stanford) Re-defined specification/implementation interface Software architecture and systemlevel design is decoupled (subject to limits) from controller design and includes implementation platform specific abstractions. - Giotto-like specifications -Time Triggered Architecture HW and Code Network Configuration Implementation Platform Design Robust implementation platform designed for decoupling the two design layers Code and HW/Network configuration is decoupled (subject to limits) from system-level design and allows composition for other properties (reliability). Sztipanovits: 22 Boyd, S., Skaf, J.: Controller Coefficient Truncation Using Lyapunov Performance Certificate Proceedings of the European Control Conference, July 2, 2007

23 Summary Composition in heterogeneous systems requires decoupling among design concerns Orthogonality among design concerns is a common assumption and the primary tool for managing complexity. However, orthogonality is hard to achieve: requries new theories, cross-domain abstractions Sztipanovits: 23

PaNeCS: A Modeling Language for Passivity-based Design of Networked Control Systems

PaNeCS: A Modeling Language for Passivity-based Design of Networked Control Systems PaNeCS: A Modeling Language for Passivity-based Design of Networked Control Systems Emeka Eyisi, Joseph Porter, Joe Hall, Nicholas Kottenstette, Xenofon Koutsoukos and Janos Sztipanovits Institute for

More information

PaNeCS: A Modeling Language for Passivity-based Design of Networked Control Systems

PaNeCS: A Modeling Language for Passivity-based Design of Networked Control Systems 19th Mediterranean Conference on Control and Automation Aquis Corfu Holiday Palace, Corfu, Greece June 20-23, 2011 ThAT1.4 PaNeCS: A Modeling Language for Passivity-based Design of Networked Control Systems

More information

for High Confidence Design

for High Confidence Design Model-Integrated Toolchain for High Confidence Design Graham Hemingway, Nicholas Kottenstette Sandeep Neema, Harmon Nine, Joe Porter Janos Sztipanovits, and Gabor Karsai Vanderbilt University/ISIS Part

More information

Passivity-Based Design of Wireless Networked Control Systems for Robustness to Time-Varying Delays

Passivity-Based Design of Wireless Networked Control Systems for Robustness to Time-Varying Delays Time Systems Symposium (RTTS 28), Barcelona, Spain, November 3 - December 3, 28. 28 Real-Time Systems Symposium Passivity-Based Design of Wireless Networked Control Systems for Robustness to Time-Varying

More information

Semantic Specifications for Domain-Specific Modeling Languages

Semantic Specifications for Domain-Specific Modeling Languages Semantic Specifications for Domain-Specific Modeling Languages Gabor Simko Institute for Software Integrated Systems Vanderbilt University Nashville, TN Abstract. While there is a generic agreement that

More information

Advanced Tool Architectures. Edited and Presented by Edward A. Lee, Co-PI UC Berkeley. Tool Projects. Chess Review May 10, 2004 Berkeley, CA

Advanced Tool Architectures. Edited and Presented by Edward A. Lee, Co-PI UC Berkeley. Tool Projects. Chess Review May 10, 2004 Berkeley, CA Advanced Tool Architectures Edited and Presented by Edward A. Lee, Co-PI UC Berkeley Chess Review May 10, 2004 Berkeley, CA Tool Projects Concurrent model-based design Giotto (Henzinger) E machine & S

More information

Simulation of LET Models in Simulink and Ptolemy

Simulation of LET Models in Simulink and Ptolemy Simulation of LET Models in Simulink and Ptolemy P. Derler, A. Naderlinger, W. Pree, S. Resmerita, J. Templ Monterey Workshop 2008, Budapest, Sept. 24-26, 2008 C. Doppler Laboratory Embedded Software Systems

More information

This project has received funding from the European Union s Horizon 2020 research and innovation programme under grant agreement No

This project has received funding from the European Union s Horizon 2020 research and innovation programme under grant agreement No This project has received funding from the European Union s Horizon 2020 research and innovation programme under grant agreement No 643921. TOOLS INTEGRATION UnCoVerCPS toolchain Goran Frehse, UGA Xavier

More information

Domain Specific Modeling Languages for Cyber Physical Systems: Where Are Semantics Coming From?

Domain Specific Modeling Languages for Cyber Physical Systems: Where Are Semantics Coming From? - 1 - Domain Specific Modeling Languages for Cyber Physical Systems: Where Are Semantics Coming From? Janos Sztipanovits Institute for Software Integrated Systems Vanderbilt University Nashville, TN 37221

More information

Design Specification of Cyber-Physical Systems: Towards a Domain-Specific Modeling Language based on Simulink, Eclipse Modeling Framework, and Giotto

Design Specification of Cyber-Physical Systems: Towards a Domain-Specific Modeling Language based on Simulink, Eclipse Modeling Framework, and Giotto Design Specification of Cyber-Physical Systems: Towards a Domain-Specific Modeling Language based on Simulink, Eclipse Modeling Framework, and Giotto Muhammad Umer Tariq, Jacques Florence, and Marilyn

More information

Figure 1. Closed-loop model.

Figure 1. Closed-loop model. Model Transformation between MATLAB Simulink and Function Blocks Chia-han (John) Yang and Valeriy Vyatkin Department of Electrical and Computer Engineering University of Auckland cyan034@ec.auckland.ac.nz,

More information

A Simulation Framework for Design of Mixed Time/Event-Triggered Distributed Control Systems with SystemC/TLM

A Simulation Framework for Design of Mixed Time/Event-Triggered Distributed Control Systems with SystemC/TLM A Simulation Framework for Design of Mixed Time/Event-Triggered Distributed Control Systems with SystemC/TLM Zhenkai Zhang, Joseph Porter, Xenofon Koutsoukos, and Janos Sztipanovits Institute for Software

More information

Platform Based Design of Unmanned Aerial Vehicles

Platform Based Design of Unmanned Aerial Vehicles Platform Based Design of Unmanned Aerial Vehicles EE249 Class Project, Fall 2001 By Judy Liebman and Cedric Ma Abstract This project combines design philosophies from three different areas: embedded systems

More information

Unication or integration? The Challenge of Semantics in Heterogeneous Modeling Languages

Unication or integration? The Challenge of Semantics in Heterogeneous Modeling Languages Unication or integration? The Challenge of Semantics in Heterogeneous Modeling Languages Gabor Karsai Institute for Software-Integrated Systems Department of Electrical Engineering and Computer Science

More information

Model-Integrated Computing for Composition of Complex QoS Applications

Model-Integrated Computing for Composition of Complex QoS Applications Institute for Software Integrated Systems Vanderbilt University Model-Integrated Computing for Composition of Complex QoS Applications Sandeep Neema, Ted Bapty, Jeff Gray, Aniruddha Gokhale Institute for

More information

Outline. SLD challenges Platform Based Design (PBD) Leveraging state of the art CAD Metropolis. Case study: Wireless Sensor Network

Outline. SLD challenges Platform Based Design (PBD) Leveraging state of the art CAD Metropolis. Case study: Wireless Sensor Network By Alberto Puggelli Outline SLD challenges Platform Based Design (PBD) Case study: Wireless Sensor Network Leveraging state of the art CAD Metropolis Case study: JPEG Encoder SLD Challenge Establish a

More information

System-level co-modeling AADL and Simulink specifications using Polychrony (and Syndex)

System-level co-modeling AADL and Simulink specifications using Polychrony (and Syndex) System-level co-modeling AADL and Simulink specifications using Polychrony (and Syndex) AADL Standards Meeting June 6., 2011 Jean-Pierre Talpin, INRIA Parts of this presentation are joint work with Paul,

More information

Modeling and Analysis of Distributed Control Networks

Modeling and Analysis of Distributed Control Networks Modeling and Analysis of Distributed Control Networks Rajeev Alur, Alessandro D Innocenzo, Gera Weiss, George J. Pappas PRECISE Center for Embedded Systems University of Pennsylvania Motivation ( ) ( )

More information

Real-Time Task Scheduling for Distributed Embedded System using MATLAB Toolboxes

Real-Time Task Scheduling for Distributed Embedded System using MATLAB Toolboxes Indian Journal of Science and Technology, Vol 8(15), DOI: 10.17485/ijst/2015/v8i15/55680, July 2015 ISSN (Print) : 0974-6846 ISSN (Online) : 0974-5645 Real-Time Task Scheduling for Distributed Embedded

More information

Toward a Semantic Anchoring Infrastructure for Domain-Specific Modeling Languages

Toward a Semantic Anchoring Infrastructure for Domain-Specific Modeling Languages Toward a Semantic Anchoring Infrastructure for Domain-Specific Modeling Languages Kai Chen Institute for Software Integrated Systems Vanderbilt University, Nashville, TN, 37205 chenk@isis.vanderbilt.edu

More information

Simulink/Stateflow. June 2008

Simulink/Stateflow. June 2008 Simulink/Stateflow Paul Caspi http://www-verimag.imag.fr/ Pieter Mosterman http://www.mathworks.com/ June 2008 1 Introduction Probably, the early designers of Simulink in the late eighties would have been

More information

Towards the Compositional Specification of Semantics for Heterogeneous DSML-s

Towards the Compositional Specification of Semantics for Heterogeneous DSML-s Institute for Software Integrated Systems Vanderbilt University Towards the Compositional Specification of Semantics for Heterogeneous DSML-s Janos Sztipanovits ISIS, Vanderbilt University October 26,

More information

A Co-Simulation Framework for Design of Time-Triggered Automotive Cyber Physical Systems

A Co-Simulation Framework for Design of Time-Triggered Automotive Cyber Physical Systems A Co-Simulation Framework for Design of Time-Triggered Automotive Cyber Physical Systems Zhenkai Zhang, Emeka Eyisi, Xenofon Koutsoukos, Joseph Porter, Gabor Karsai, Janos Sztipanovits Institute for Software

More information

A Model-Driven Approach to Embedded Control System Implementation

A Model-Driven Approach to Embedded Control System Implementation A Model-Driven Approach to Embedded Control System Implementation Jan F. Broenink, Marcel A. Groothuis, Peter M. Visser, Bojan Orlic Control Engineering, CTIT, Faculty EE-M-CS,, Enschede, Netherlands e-mail:

More information

A Solution Based on Modeling and Code Generation for Embedded Control System

A Solution Based on Modeling and Code Generation for Embedded Control System J. Software Engineering & Applications, 2009, 2: 160-164 doi:10.4236/jsea.2009.23023 Published Online October 2009 (http://www.scirp.org/journal/jsea) A Solution Based on Modeling and Code Generation for

More information

COMPOSITIONAL AND INCREMENTAL MODELING AND ANALYSIS FOR HIGH-CONFIDENCE DISTRIBUTED EMBEDDED CONTROL SYSTEMS JOSEPH E. PORTER.

COMPOSITIONAL AND INCREMENTAL MODELING AND ANALYSIS FOR HIGH-CONFIDENCE DISTRIBUTED EMBEDDED CONTROL SYSTEMS JOSEPH E. PORTER. COMPOSITIONAL AND INCREMENTAL MODELING AND ANALYSIS FOR HIGH-CONFIDENCE DISTRIBUTED EMBEDDED CONTROL SYSTEMS By JOSEPH E. PORTER Dissertation Submitted to the Faculty of the Graduate School of Vanderbilt

More information

Design of Adaptive Filters Using Least P th Norm Algorithm

Design of Adaptive Filters Using Least P th Norm Algorithm Design of Adaptive Filters Using Least P th Norm Algorithm Abstract- Adaptive filters play a vital role in digital signal processing applications. In this paper, a new approach for the design and implementation

More information

DESIGN AND SIMULATION OF HETEROGENEOUS CONTROL SYSTEMS USING PTOLEMY II

DESIGN AND SIMULATION OF HETEROGENEOUS CONTROL SYSTEMS USING PTOLEMY II DESIGN AND SIMULATION OF HETEROGENEOUS CONTROL SYSTEMS USING PTOLEMY II Johan Eker, Chamberlain Fong, Jörn W. Janneck, Jie Liu Department of Electrical Engineering and Computer Sciences University of California

More information

Non Linear Control of Four Wheel Omnidirectional Mobile Robot: Modeling, Simulation and Real-Time Implementation

Non Linear Control of Four Wheel Omnidirectional Mobile Robot: Modeling, Simulation and Real-Time Implementation Non Linear Control of Four Wheel Omnidirectional Mobile Robot: Modeling, Simulation and Real-Time Implementation eer Alakshendra Research Scholar Robotics Lab Dr Shital S.Chiddarwar Supervisor Robotics

More information

Impact of Runtime Architectures on Control System Stability

Impact of Runtime Architectures on Control System Stability Impact of Runtime Architectures on Control System Stability P. Feiler, J. Hansson Software Engineering Institute, Pittsburgh, PA Abstract: Control systems are sensitive to the endto-end latency and age

More information

Hybrid System Modeling: Operational Semantics Issues

Hybrid System Modeling: Operational Semantics Issues Hybrid System Modeling: Operational Semantics Issues Edward A. Lee Professor UC Berkeley OMG Technical Meeting Feb. 4, 2004 Anaheim, CA, USA Special thanks to Jie Liu, Xiaojun Liu, Steve Neuendorffer,

More information

Simulating a Multicore Scheduler of Real-Time Control Systems in Simulink

Simulating a Multicore Scheduler of Real-Time Control Systems in Simulink Simulating a Multicore Scheduler of Real-Time Control Systems in Simulink Wei Li, Ramamurthy Mani, Pieter J Mosterman, and Teresa Hubscher-Younger MathWorks 4 Apple Hill Drive, Natick MA 01760, USA {Wei.Li,

More information

Embedded Systems. Problem 1: Getting started with STATEFLOW. Starting STATEFLOW

Embedded Systems. Problem 1: Getting started with STATEFLOW. Starting STATEFLOW Prof. Bernd Finkbeiner, Ph.D. Winter term 2008/2009 Dipl.-Inf. Rüdiger Ehlers Problem Set 2 Dipl.-Inf.Hans-Jörg Peter Due: Thursday,6 th November 2008 Michael Gerke, B.Sc. Embedded Systems STATEFLOW is

More information

Partitioned Control Challenge Problem

Partitioned Control Challenge Problem Partitioned Control Challenge Problem Introduction The lack of model-based tools to analyze and implement the distribution of software functionality between multiple targets is a problem faced in the automotive

More information

Institute for Software-Integrated Systems. Technical Report

Institute for Software-Integrated Systems. Technical Report Institute for Software-Integrated Systems Technical Report TR#: Title: Authors: ISIS-15-107 Software Design and Implementation in the META Toolchain Sandeep Neema, Ted Bapty and Daniel Balasubramanian

More information

The Gigascale Silicon Research Center

The Gigascale Silicon Research Center The Gigascale Silicon Research Center The GSRC Semantics Project Tom Henzinger Luciano Lavagno Edward Lee Alberto Sangiovanni-Vincentelli Kees Vissers Edward A. Lee UC Berkeley What is GSRC? The MARCO/DARPA

More information

Portable Real-Time Code from PTIDES Models

Portable Real-Time Code from PTIDES Models Portable Real-Time Code from PTIDES Models Patricia Derler, John Eidson, Edward A. Lee, Slobodan Matic, Christos Stergiou, Michael Zimmer UC Berkeley Invited Talk Workshop on Time Analysis and Model-Based

More information

Robust Controller Design for an Autonomous Underwater Vehicle

Robust Controller Design for an Autonomous Underwater Vehicle DRC04 Robust Controller Design for an Autonomous Underwater Vehicle Pakpong Jantapremjit 1, * 1 Department of Mechanical Engineering, Faculty of Engineering, Burapha University, Chonburi, 20131 * E-mail:

More information

Timing Definition Language (TDL) Concepts, Code Generation and Tools

Timing Definition Language (TDL) Concepts, Code Generation and Tools Timing Definition Language (TDL) Concepts, Code Generation and Tools Wolfgang Pree Embedded Software & Systems Research Center Department of Computer Sciences Univ. Salzburg Overview Motivation Timing

More information

Introduction to Control Systems Design

Introduction to Control Systems Design Experiment One Introduction to Control Systems Design Control Systems Laboratory Dr. Zaer Abo Hammour Dr. Zaer Abo Hammour Control Systems Laboratory 1.1 Control System Design The design of control systems

More information

Towards Formalizing Domain-specific Modeling Languages. Kai Chen Janos Sztipanovits Sandeep Neema

Towards Formalizing Domain-specific Modeling Languages. Kai Chen Janos Sztipanovits Sandeep Neema Towards Formalizing Domain-specific Modeling Languages Kai Chen Janos Sztipanovits Sandeep Neema Outline! DSML overview! Framework for DSML design Syntax definition Semantic domain specification Semantic

More information

A set-based approach to robust control and verification of piecewise affine systems subject to safety specifications

A set-based approach to robust control and verification of piecewise affine systems subject to safety specifications Dipartimento di Elettronica, Informazione e Bioingegneria A set-based approach to robust control and verification of piecewise affine systems subject to safety specifications Maria Prandini maria.prandini@polimi.it

More information

System-Level Design Languages: Orthogonalizing the Issues

System-Level Design Languages: Orthogonalizing the Issues System-Level Design Languages: Orthogonalizing the Issues The GSRC Semantics Project Tom Henzinger Luciano Lavagno Edward Lee Alberto Sangiovanni-Vincentelli Kees Vissers Edward A. Lee UC Berkeley What

More information

Communication Systems Design in Practice

Communication Systems Design in Practice Communication Systems Design in Practice Jacob Kornerup, Ph.D. LabVIEW R&D National Instruments '87 '88 '89 '90 '91 '92 '93 '94 '95 '96 '97 '98 '99 '00 '01 '02 03 04 '05 '06 '07 '08 '09 '10 '11 '12 '13

More information

Distributed Operation Layer Integrated SW Design Flow for Mapping Streaming Applications to MPSoC

Distributed Operation Layer Integrated SW Design Flow for Mapping Streaming Applications to MPSoC Distributed Operation Layer Integrated SW Design Flow for Mapping Streaming Applications to MPSoC Iuliana Bacivarov, Wolfgang Haid, Kai Huang, and Lothar Thiele ETH Zürich MPSoCs are Hard to program (

More information

VIBRATION ISOLATION USING A MULTI-AXIS ROBOTIC PLATFORM G.

VIBRATION ISOLATION USING A MULTI-AXIS ROBOTIC PLATFORM G. VIBRATION ISOLATION USING A MULTI-AXIS ROBOTIC PLATFORM G. Satheesh Kumar, Y. G. Srinivasa and T. Nagarajan Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian

More information

Communication Systems Design in Practice

Communication Systems Design in Practice Communication Systems Design in Practice Jacob Kornerup, Ph.D. LabVIEW R&D National Instruments A Word About National Instruments Annual Revenue: $1.14 billion Global Operations: Approximately 6,870 employees;

More information

From synchronous models to distributed, asynchronous architectures

From synchronous models to distributed, asynchronous architectures From synchronous models to distributed, asynchronous architectures Stavros Tripakis Joint work with Claudio Pinello, Cadence Alberto Sangiovanni-Vincentelli, UC Berkeley Albert Benveniste, IRISA (France)

More information

SEMI-ACTIVE CONTROL OF BUILDING STRUCTURES USING A NEURO-FUZZY CONTROLLER WITH ACCELERATION FEEDBACK

SEMI-ACTIVE CONTROL OF BUILDING STRUCTURES USING A NEURO-FUZZY CONTROLLER WITH ACCELERATION FEEDBACK Proceedings of the 6th International Conference on Mechanics and Materials in Design, Editors: J.F. Silva Gomes & S.A. Meguid, P.Delgada/Azores, 26-30 July 2015 PAPER REF: 5778 SEMI-ACTIVE CONTROL OF BUILDING

More information

Functional Architectures for Cooperative Multiarm Systems

Functional Architectures for Cooperative Multiarm Systems Università di Genova - DIST GRAAL- Genoa Robotic And Automation Lab Functional Architectures for Cooperative Multiarm Systems Prof. Giuseppe Casalino Outline A multilayered hierarchical approach to robot

More information

CHAPTER 1 INTRODUCTION

CHAPTER 1 INTRODUCTION 1 CHAPTER 1 INTRODUCTION 1.1 Motivation The presence of uncertainties and disturbances has always been a vital issue in the control of dynamic systems. The classical linear controllers, PI and PID controllers

More information

Simulink, simulation, code generation and tasks. Marco Di Natale Associate Professor, Scuola S. Anna - Italy, UTRC Visiting Fellow

Simulink, simulation, code generation and tasks. Marco Di Natale Associate Professor, Scuola S. Anna - Italy, UTRC Visiting Fellow Simulink, simulation, code generation and tasks Marco Di Natale Associate Professor, Scuola S. Anna - Italy, UTRC Visiting Fellow Simulink model Many things A network of blocks Workspace variables Type

More information

Compositional Translation of Simulink Models into Synchronous BIP

Compositional Translation of Simulink Models into Synchronous BIP Compositional Translation of Simulink Models into Synchronous BIP Vassiliki Sfyrla, Georgios Tsiligiannis, Iris Safaka, Marius Bozga, Joseph Sifakis To cite this version: Vassiliki Sfyrla, Georgios Tsiligiannis,

More information

A Design Space Exploration Framework for Model-Based Software-intensive Embedded System Development

A Design Space Exploration Framework for Model-Based Software-intensive Embedded System Development A Design Space Exploration Framework for Model-Based Software-intensive Embedded System Development Matthias Büker, Stefan Henkler, Stefanie Schlegel, Eike Thaden bueker@offis.de, henkler@offis.de, schlegel@offis.de,

More information

TU Darmstadt. Department of Computer Scien

TU Darmstadt. Department of Computer Scien 1 Dependable Embedded Systems and Services: A Personal Crystal Ball Outlook Neeraj Suri TU Darmstadt, Germany http://www.deeds.informatik.tu-darmstadt.de my definitions! Embedded Systems involve computing

More information

SIMULATION OF NETWORK USING TRUETIME TOOLBOX

SIMULATION OF NETWORK USING TRUETIME TOOLBOX SIMULATION OF NETWORK USING TRUETIME TOOLBOX T. Chvostek*, A. Kratky **, M. Foltin *** * Institute of Control and Industrial Informatics, Faculty of Informatics and Information Technologies, Ilkovičova

More information

Hierarchical FSMs with Multiple CMs

Hierarchical FSMs with Multiple CMs Hierarchical FSMs with Multiple CMs Manaloor Govindarajan Balasubramanian Manikantan Bharathwaj Muthuswamy (aka Bharath) Reference: Hierarchical FSMs with Multiple Concurrency Models. Alain Girault, Bilung

More information

By: Chaitanya Settaluri Devendra Kalia

By: Chaitanya Settaluri Devendra Kalia By: Chaitanya Settaluri Devendra Kalia What is an embedded system? An embedded system Uses a controller to perform some function Is not perceived as a computer Software is used for features and flexibility

More information

Integration of Simulink Models with Component-based Software Models

Integration of Simulink Models with Component-based Software Models Integration of Simulink Models with Component-based Software Models Nicolae MARIAN, Søren TOP Mads Clausen Institute for Product Innovation, University of Southern Denmark Alsion 2, DK-6400 Sønderborg

More information

Type-2 fuzzy controller in ZigBee network

Type-2 fuzzy controller in ZigBee network Type-2 fuzzy controller in ZigBee network MICHAL BLAHO, MARTIN URBAN, MARTIN FOLTIN Institute of control and industrial informatics Faculty of Electrical Engineering and Information Technology Slovak University

More information

Control Performance-Aware System Level Design

Control Performance-Aware System Level Design Control Performance-Aware System Level Design Nina Mühleis, Michael Glaß, and Jürgen Teich Hardware/Software Co-Design, University of Erlangen-Nuremberg Email: {nina.muehleis, glass, teich}@cs.fau.de Abstract

More information

AADL committee, Valencia October 2 nd, Pierre Dissaux (Ellidiss) Maxime Perrotin (ESA)

AADL committee, Valencia October 2 nd, Pierre Dissaux (Ellidiss) Maxime Perrotin (ESA) AADL committee, Valencia October 2 nd, 2014 Pierre Dissaux (Ellidiss) Maxime Perrotin (ESA) what is TASTE? A tool-chain targeting heterogeneous, embedded systems, using a model-centric development approach

More information

EECE Hybrid and Embedded Systems: Computation

EECE Hybrid and Embedded Systems: Computation EECE 396-1 Hybrid and Embedded Systems: Computation T. John Koo, Ph.D. Institute for Software Integrated Systems Department of Electrical Engineering and Computer Science Vanderbilt University 300 Featheringill

More information

Introduction to Physical Modelling Rory Adams Senior Application Engineer

Introduction to Physical Modelling Rory Adams Senior Application Engineer Introduction to Physical Modelling Rory Adams Senior Application Engineer 2014 The MathWorks, Inc. 1 Creating Reusable Physical Models What you should walk away with Increased knowledge of: What is meant

More information

Quality-of-Service Modeling and Analysis of Dependable Aplication Models

Quality-of-Service Modeling and Analysis of Dependable Aplication Models Quality-of-Service Modeling and Analysis of Dependable Aplication Models András Balogh András Pataricza BUTE-DMIS-FTSRG http://www.decos.at/ 2 Outline Introduction Target application domains Application

More information

An Encapsulated Communication System for Integrated Architectures

An Encapsulated Communication System for Integrated Architectures An Encapsulated Communication System for Integrated Architectures Architectural Support for Temporal Composability Roman Obermaisser Overview Introduction Federated and Integrated Architectures DECOS Architecture

More information

A NOUVELLE MOTION STATE-FEEDBACK CONTROL SCHEME FOR RIGID ROBOTIC MANIPULATORS

A NOUVELLE MOTION STATE-FEEDBACK CONTROL SCHEME FOR RIGID ROBOTIC MANIPULATORS A NOUVELLE MOTION STATE-FEEDBACK CONTROL SCHEME FOR RIGID ROBOTIC MANIPULATORS Ahmad Manasra, 135037@ppu.edu.ps Department of Mechanical Engineering, Palestine Polytechnic University, Hebron, Palestine

More information

Component-based Construction of Heterogeneous Real-time Systems in BIP

Component-based Construction of Heterogeneous Real-time Systems in BIP Component-based Construction of Heterogeneous Real-time Systems in BIP Joseph Sifakis VERIMAG FETCH07 Villard-de-Lans, January 2007 Joseph Sifakis FETCH07 1 Key-issues: Component-based construction Develop

More information

Predictable Timing of Cyber-Physical Systems Future Research Challenges

Predictable Timing of Cyber-Physical Systems Future Research Challenges Predictable Timing of Cyber- Systems Future Research Challenges DREAMS Seminar, EECS, UC Berkeley January 17, 2012 David Broman EECS Department UC Berkeley, USA Department of Computer and Information Science

More information

The Flooding Time Synchronization Protocol

The Flooding Time Synchronization Protocol The Flooding Time Synchronization Protocol Miklos Maroti, Branislav Kusy, Gyula Simon and Akos Ledeczi Vanderbilt University Contributions Better understanding of the uncertainties of radio message delivery

More information

Subsystem Hazard Analysis (SSHA)

Subsystem Hazard Analysis (SSHA) Subsystem Hazard Analysis (SSHA) c "!$#%! Examine subsystems to determine how their Normal performance Operational degradation Functional failure Unintended function Inadvertent function (proper function

More information

Codesign Framework. Parts of this lecture are borrowed from lectures of Johan Lilius of TUCS and ASV/LL of UC Berkeley available in their web.

Codesign Framework. Parts of this lecture are borrowed from lectures of Johan Lilius of TUCS and ASV/LL of UC Berkeley available in their web. Codesign Framework Parts of this lecture are borrowed from lectures of Johan Lilius of TUCS and ASV/LL of UC Berkeley available in their web. Embedded Processor Types General Purpose Expensive, requires

More information

A Simulator for Control Applications on TTNoC-based Multicore Systems. Andrei Cibu

A Simulator for Control Applications on TTNoC-based Multicore Systems. Andrei Cibu A Simulator for Control Applications on TTNoC-based Multicore Systems Andrei Cibu Kongens Lyngby 2014 Abstract Embedded systems are everywhere. Increasingly they are used in areas such as industrial control,

More information

Model-Based Synthesis and Analysis of Fault Tolerant Data Flow Models

Model-Based Synthesis and Analysis of Fault Tolerant Data Flow Models Model-Based Synthesis and Analysis of Fault Tolerant Data Flow Models Mark Lee McKelvin Jr Electrical Engineering and Computer Sciences University of California at Berkeley Technical Report No. UCB/EECS-2006-9

More information

Implementation of Reconfiguration Management in Fault-Adaptive Control Systems

Implementation of Reconfiguration Management in Fault-Adaptive Control Systems IEEE Instrumentation and Measurement Technology Conference Anchorage, AK, USA, 21-23 May 2002 Implementation of Reconfiguration Management in Fault-Adaptive Control Systems Gyula Simon *#, Tamás Kovácsházy

More information

CONTROL SYSTEMS, ROBOTICS AND AUTOMATION Vol. XVI - Control Reconfiguration - Jan Lunze

CONTROL SYSTEMS, ROBOTICS AND AUTOMATION Vol. XVI - Control Reconfiguration - Jan Lunze CONTROL RECONFIGURATION Jan Lunze The Institute of Automation and Computer Control, Ruhr University Bochum, Germany Keywords: Model-matching, Reconfigurability, Reconfiguration, Recoverability. Contents

More information

Tsmart-BIPEX: An Integrated Graphical Design Toolkit for Software Systems

Tsmart-BIPEX: An Integrated Graphical Design Toolkit for Software Systems Tsmart-BIPEX: An Integrated Graphical Design Toolkit for Software Systems Huafeng Zhang 1, Yu Jiang 1, Han Liu 1, Ming Gu 1, and Jiaguang Sun 1 School of Software, Tsinghua University, China Abstract.

More information

PTIDES: A Discrete-Event-Based Programming Model for Distributed Embedded Systems

PTIDES: A Discrete-Event-Based Programming Model for Distributed Embedded Systems PTIDES: A Discrete-Event-Based Programming Model for Distributed Embedded Systems John C. Eidson Edward A. Lee Slobodan Matic Sanjit A. Seshia Jia Zou UC Berkeley Tutorial on Modeling and Analyzing Real-Time

More information

Integrated Design and Analysis Tools for Software Based Control Systems

Integrated Design and Analysis Tools for Software Based Control Systems Integrated Design and Analysis Tools for Software Based Control Systems Principal Investigator: Tom Henzinger Co-Principal Investigator: Edward A. Lee Co-Principal Investigator: Shankar Sastry Program

More information

Multitasking Real-Time Control Systems in Easy Java Simulations

Multitasking Real-Time Control Systems in Easy Java Simulations Proceedings of the 17th World Congress The International Federation of Automatic Control Multitasking Real-Time Control Systems in Easy Java Simulations G. Farias*, A. Cervin**, K. Årzén**, S. Dormido*,

More information

Using MATLAB, SIMULINK and Control System Toolbox

Using MATLAB, SIMULINK and Control System Toolbox Using MATLAB, SIMULINK and Control System Toolbox A practical approach Alberto Cavallo Roberto Setola Francesco Vasca Prentice Hall London New York Toronto Sydney Tokyo Singapore Madrid Mexico City Munich

More information

Using UML as Front-end for Heterogeneous Software Code Generation Strategies

Using UML as Front-end for Heterogeneous Software Code Generation Strategies Using UML as Front-end for Heterogeneous Software Code Generation Strategies Lisane B. Brisolara, Marcio F.S. Oliveira, Ricardo Redin, Luis C. Lamb, Luigi Carro, Flavio Wagner {lisane, mfsoliveira, rmredin,

More information

Approaches of using UML for Embedded System Design

Approaches of using UML for Embedded System Design Approaches of using UML for Embedded System Design Sudeep D. Thepade Lecturer, Dept. of Information Technology, Thadomal Shahani Engg. College, Bandra, Mumbai sudeepthepade@gmail.com Abstract New approaches

More information

European Network on New Sensing Technologies for Air Pollution Control and Environmental Sustainability - EuNetAir COST Action TD1105

European Network on New Sensing Technologies for Air Pollution Control and Environmental Sustainability - EuNetAir COST Action TD1105 European Network on New Sensing Technologies for Air Pollution Control and Environmental Sustainability - EuNetAir COST Action TD1105 A Holistic Approach in the Development and Deployment of WSN-based

More information

What s New with the MATLAB and Simulink Product Families. Marta Wilczkowiak & Coorous Mohtadi Application Engineering Group

What s New with the MATLAB and Simulink Product Families. Marta Wilczkowiak & Coorous Mohtadi Application Engineering Group What s New with the MATLAB and Simulink Product Families Marta Wilczkowiak & Coorous Mohtadi Application Engineering Group 1 Area MATLAB Math, Statistics, and Optimization Application Deployment Parallel

More information

Component-Based Design of Embedded Control Systems

Component-Based Design of Embedded Control Systems Component-Based Design of Embedded Control Systems Luca Dealfaro Chamberlain Fong Tom Henzinger Christopher Hylands John Koo Edward A. Lee Jie Liu Xiaojun Liu Steve Neuendorffer Sonia Sachs Shankar Sastry

More information

A Hybrid Control System Design and Implementation for a Three Tank Testbed

A Hybrid Control System Design and Implementation for a Three Tank Testbed A Hybrid Control System Design and Implementation for a Three Tank Testbed Jian Wu, Student Member, IEEE, Gautam Biswas, Senior Member, IEEE, Sherif Abdelwahed, Senior Member, IEEE and Eric Manders, Member,

More information

TrueTime: Real-time Control System Simulation with MATLAB/Simulink

TrueTime: Real-time Control System Simulation with MATLAB/Simulink TrueTime: Real-time Control System Simulation with MATLAB/Simulink Henriksson, Dan; Cervin, Anton; Årzén, Karl-Erik Published in: Proceedings of the Nordic MATLAB Conference Published: 23-- Link to publication

More information

Transforming UML Collaborating Statecharts for Verification and Simulation

Transforming UML Collaborating Statecharts for Verification and Simulation Transforming UML Collaborating Statecharts for Verification and Simulation Patrick O. Bobbie, Yiming Ji, and Lusheng Liang School of Computing and Software Engineering Southern Polytechnic State University

More information

Distributed Control over Wireless Networks

Distributed Control over Wireless Networks Technical Information Systems Seminar Technische Universität Dresden June 19, 2008 Outline 1 Introduction and Motivation The Problem Wireless Sensor and Actuator Networks Control Performance 2 Delay and

More information

Modeling for Structural Adaptation: Lessons Learned from Model-based Design

Modeling for Structural Adaptation: Lessons Learned from Model-based Design Institute for Software Integrated Systems Vanderbilt University Modeling for Structural Adaptation: Lessons Learned from Model-based Design Janos Sztipanovits Institute for Software Integrated Systems

More information

Library-Based Scalable Refinement Checking for Contract-Based Design

Library-Based Scalable Refinement Checking for Contract-Based Design Library-Based Scalable Refinement Checking for Contract-Based Design Antonio Iannopollo Pierluigi Nuzzo Stavros Tripakis Alberto Sangiovanni-Vincentelli EXCAPE ANNUAL MEETING 10-11 MARCH 2014 UC BERKELEY

More information

EPC Enacted: Integration in an Industrial Toolbox and Use Against a Railway Application

EPC Enacted: Integration in an Industrial Toolbox and Use Against a Railway Application EPC Enacted: Integration in an Industrial Toolbox and Use Against a Railway Application E. Mezzetti, M. Fernandez, A. Bardizbanyan I. Agirre, J. Abella, T. Vardanega, F. Cazorla, * This project Real-Time

More information

Concurrent Design of Embedded Control Software

Concurrent Design of Embedded Control Software Concurrent Design of Embedded Software Third International Workshop on Multi-Paradigm Modeling MPM`09, 06-10-2009 Marcel Groothuis, Jan Broenink University of Twente, The Netherlands Raymond Frijns, Jeroen

More information

Towards Two-Level Formal Modeling of Computer-Based Systems

Towards Two-Level Formal Modeling of Computer-Based Systems Journal of Universal Computer Science, vol. 6, no. 10 (2000), 1131-1144 submitted: 8/6/00, accepted: 19/9/00, appeared: 28/10/00 Springer Pub. Co. Towards Two-Level Formal Modeling of Computer-Based Systems

More information

How useful is the UML profile SPT without Semantics? 1

How useful is the UML profile SPT without Semantics? 1 How useful is the UML profile SPT without Semantics? 1 Susanne Graf, Ileana Ober VERIMAG 2, avenue de Vignate - F-38610 Gières - France e-mail:{susanne.graf, Ileana.Ober}@imag.fr http://www-verimag.imag.fr/~{graf,iober}

More information

Verification of Cyber-Physical Controller Software Using the AVM Meta Tool Suite and HybridSAL

Verification of Cyber-Physical Controller Software Using the AVM Meta Tool Suite and HybridSAL Verification of Cyber-Physical Controller Software Using the AVM Meta Tool Suite and HybridSAL Joseph Porter (jporter@isis.vanderbilt.edu), Ashish Tiwari (ashish.tiwari@sri.com), and Xenofon Koutsoukos

More information

A Tabular Expression Toolbox for Matlab/Simulink

A Tabular Expression Toolbox for Matlab/Simulink A Tabular Expression Toolbox for Matlab/Simulink Colin Eles and Mark Lawford McMaster Centre for Software Certification McMaster University, Hamilton, Ontario, Canada L8S 4K1 {elesc,lawford}@mcmaster.ca

More information

Metamodeling. Janos Sztipanovits ISIS, Vanderbilt University

Metamodeling. Janos Sztipanovits ISIS, Vanderbilt University Metamodeling Janos ISIS, Vanderbilt University janos.sztipanovits@vanderbilt.edusztipanovits@vanderbilt edu Content Overview of Metamodeling Abstract Syntax Metamodeling Concepts Metamodeling languages

More information

SIMULATION ENVIRONMENT

SIMULATION ENVIRONMENT F2010-C-123 SIMULATION ENVIRONMENT FOR THE DEVELOPMENT OF PREDICTIVE SAFETY SYSTEMS 1 Dirndorfer, Tobias *, 1 Roth, Erwin, 1 Neumann-Cosel, Kilian von, 2 Weiss, Christian, 1 Knoll, Alois 1 TU München,

More information