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Frameworks and Tools for High-Confidence Design of Adaptive, Distributed Embedded Control Systems - Project Overview -. Janos Sztipanovits ISIS-Vanderbilt University. MURI Year 1 Review Meeting Frameworks and Tools for High-Confidence Design of Adaptive, Distributed Embedded Control Systems - PowerPoint PPT Presentation
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Frameworks and Tools for High-Confidence Design of Adaptive, Distributed Embedded Control Systems
- Project Overview -
Janos Sztipanovits
ISIS-Vanderbilt University
MURI Year 1 Review Meeting
Frameworks and Tools for High-Confidence Design of Adaptive, Distributed Embedded Control Systems
UC Berkeley, Berkeley, CA
September 6, 2007
2
Team
Vanderbilt Sztipanovits (PI), Karsai, Volgyesi,
Porter, Thibodeaux UC Berkeley
Tomlin (PI), Lee, Sastry, Gonzales, Hoffmann, Zhou
CMU Krogh (PI), Clarke
Jain, Lerda Stanford
Boyd (PI)Skaf
3
FUNDING ($K)—Show all funding contributing to this project
FY06 FY07 FY08 FY09 FY10 FY11 AFOSR Funds 479 986 989 547Option 465 995 529
TRANSITIONS• Strong link to industry: Boeing, BAE Systems, Raytheon, GM,
MathWorks, National Instruments, TTTech• Industry affiliate programs: CHESS, ESCHER, GMLab.
STUDENTS, POST-DOCS• 9 graduate students (MURI) + student groups from other
projects
LABORATORY POINT OF CONTACT Lt Col Scott Wells, AFRL/AFOSR Dr. Siva Banda, AFRL/VACA, WPAFB, OHRay Bortner, AFRL/VACA, WPAFB, OH
APPROACH/TECHNICAL CHALLENGES
• Guaranteed behavior of distributed control software using the following approaches: (1) extension of robust controller design to selected implementation error categories (2) providing “certificate of correctness” for the controller implementation (3) development of semantic foundation for tool chain composition (4) introducing safe computation models that provide behavior guarantees
ACCOMPLISHMENTS/RESULTS See Presentations
Long-Term PAYOFF: Decrease the V&V cost of distributed embedded control systems OBJECTIVES
• Development of a theory of deep composition of hybrid control systems with attributes of computational and communication platforms • Development of foundations for model-based software design for high-confidence, networked embedded systems applications. • Composable tool architecture that enables tol reusability in domain-specific tool chains• Experimental research
Frameworks and Tools for High-Confidence Design of Adaptive, Distributed Embedded Control Systems
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ModelTransformation
Modeling LanguagesModels
Model TranslatorsModel-based Code Generators
Analysis toolsPlatforms
Control DesignImplementation Design
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Model-Based Design
Overall Undertaking
Scope of the Project: Development of component technologies in all areas Development model-based design methods Incrementally building and refining a tool chain for an experimental domain
(UAV control) Demonstration of control software development with the tool chain Experiments
Robust Control Design
Robust Control Design
Control PlatformControl PlatformComponentPlatforms
ComponentPlatforms
Code and SW Component
Design
Code and SW Component
Design
System andHardware Platforms
System andHardware Platforms
System-LevelDesign
System-LevelDesign
XExpensiveIntractableFragile
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Model-Based Design
Robust Control Design
Robust Control Design
ComponentPlatforms
ComponentPlatformsControl PlatformControl Platform
System andHardware Platforms
System andHardware Platforms
Code and Component
Design
Code and Component
Design
System-LevelDesign
System-LevelDesign
We Improve Robustness of Controllers Against Implementation Errors
How should we use implementation abstractions in controller design?(Boyd, Krogh, Clarke)
Robust Control Design
Robust Control Design
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Model-Based Design
Robust Control Design
Robust Control Design
ComponentPlatforms
ComponentPlatformsControl PlatformControl Platform
System andHardware Platforms
System andHardware Platforms
Code and Component
Design
Code and Component
Design
System-LevelDesign
System-LevelDesign
We Improve Scalability of VerificationAlgorithms
How should we use implementation abstractions in controller design?(Boyd, Krogh)
How can we exploit heterogeneous abstractions in verification and test generation? (Tomlin, Sastry, Clarke, Krogh)
Verification and Test
Generation
Verification and Test
Generation
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Model-Based Design
Robust Control Design
Robust Control Design
ComponentsPlatform
ComponentsPlatformControl PlatformControl Platform
System andHardware Platforms
System andHardware Platforms
Code and Component
Design
Code and Component
Design
System-LevelDesign
System-LevelDesign
We Develop High-Confidence Code Generators
How should we use implementation abstractions in controller design?(Boyd, Krogh)
How can we exploit heterogeneous abstractions in verification and test generation? (Tomlin, Sastry, Clarke, Krogh)
How to design high-confidence code generators? (Lee, Karsai)
CodeGeneration
CodeGeneration
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Model-Based Design
Robust Control Design
Robust Control Design
ComponentsPlatform
ComponentsPlatformControl PlatformControl Platform
System andHardware Platform
System andHardware Platform
Code and Component
Design
Code and Component
Design
System-LevelDesign
System-LevelDesign
We Build Infrastructure for Reconfigurable Tool Chains
How should we use implementation abstractions in controller design?(Boyd, Krogh)
How can we exploit heterogeneous abstractions in verification and test generation? (Tomlin, Sastry, Clarke, Krogh)
How to design high-confidence code generators? (Lee, Karsai) How can we design and customize model-based design flows?
(Volgyesi, Karsai, Krogh, Lee, Sztipanovits)
PRISMMeta-Model
ECSL-DP Meta-Model
AIRESMeta-Model
CFGMeta-Model
PRISMESML
ESML- CFG
ESML AIFModel-Based Design
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Model-Based Design
Robust Control Design
Robust Control Design
ComponentsPlatform
ComponentsPlatformControl PlatformControl Platform
System andHardware Platform
System andHardware Platform
Code and Component
Design
Code and Component
Design
System-LevelDesign
System-LevelDesign
We Evaluate Progress Experimentally
How should we use implementation abstractions in controller design?(Boyd, Krogh)
How can we exploit heterogeneous abstractions in verification and test generation? (Tomlin, Sastry, Clarke, Krogh)
How to design high-confidence code generators? (Lee, Karsai) How can we design and customize model-based design flows? (Volgyesi,
Karsai, Krogh, Lee, Sastry, Sztipanovits) How can we evaluate V&V methods experimentally? (Tomlin, Sastry)
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Accomplishment Highlights
Proved feasibility of methods and framework for decoupling (possibly imperfect) controller implementation from controller design/specification (Boyd).
Developed model-based timing analysis for networked embedded systems, test generation for timed automata and model-based verification of numerical code (Krogh).
Applied reachable set technologies to the analysis and design of collision avoidance schemes for multiple autonomous quadrotor aircraft, and to the very close formation flying of multiple fixed wing UAVs (Tomlin, Sastry).
Analyzed the limits of approximation techniques for continuous image computation in model checking hybrid systems. Developed verification algorithms for MATLAB/Simulink models by combining SW model checking with numerical simulation tools. (Clarke)
Developed model-based code generation algorithm using partial evaluation (Lee). Developed model-based code generation algorithm using model transformation
(Karsai). Developed end-to-end model-based design tool chain prototype for TTP and RTAI
Linux platform (Volgyesi, Karsai, Sztipanovits). Developed quadrotor UAV experimental platform (Tomlin, Sastry).
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Transitioning Ptolemy II 6.0 was released on February 13, 2007. Ptolemy II includes
the code generation facility. The Ptolemy source tree is available via CVS. We are actively working with Bosch and National Instruments. In addition we have: Assisted in the transfer of avionics code from B
Berkeley HCDDES team provided consultation and research materials about the IEEE-1588 platform as a possible testbed. Prototyped a vhdl target for the code generation effort. Researched Hybrid Interchange formats and discussed these with researchers in Alberto Sangiovanni-Vincentelli's group and at Cadence Berkeley Labs. Discussed the design of Vanderbilt's code generation
Vanderbilt’s MIC tool suite (GME, GReAT, UDM, OTIF) has two major releases during the last year. The releases are available through the ESCHER and ISIS download sites.
Vanderbilt continued working with GM, Raytheon and BAE Systems research groups on transitioning model-based design technologies into programs.
Vanderbilt continued working with Boeing’s FCS program on applying the MIC tools for precise architecture modeling and systems integration.
Collaboration with TTTech, University of Vienna.
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Year 2 Plans
Robust controller design for timing skew and jitter. (Boyd) Extension of model-based test generation to dynamic
environments, model-based verification of Simulink/Stateflow code and extension of timing analysis tools (Krogh)
Integration of model-based code generation with code verification and test generation (Karsai)
Continue research on verification of hybrid systems using Model Checking. Will focus on practical verification of Simulink/Stateflow code using software Model Checking techniques (Clarke)
Extension of code generation capabilities to interrupt driven concurrency and develop platform for timed sample-data and timed-distributed environment (Lee)
Develop second release of integrated tool chain for high – confidence design (Volgyesi, Karsai, Sztipanovits)
Multi-UAV control experiments (Tomlin, Sastry))