Rodolfo Pellizzoni - ECE720T5, Fall 2011: Cyber-Physical Systems

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Prospective Students

ECE720T5, Fall 2011: Cyber-Physical Systems

General Information

Lecture Time: Wednesday 11:30AM - 2:20PM

Room: EIT 3141

Office Hour: TBD

Syllabus

Calendar Description

This course covers concepts, theory and research issues in safety-critical embedded systems and Cyber-Physical Systems (CPS), with a focus on the architectural design and analysis of the underlying hardware/software computing system.

Topics include: challenges in CPS design, predictable computer architectures, scheduling of hardware resources, operating system abstractions for CPS, timing and performance analysis, modeling and verification, CPS applications.

Course Description

Cyber-Physical Systems (CPS) are systems featuring a tight integration of computation with physical processes. Applications of CPS include new generation automotive systems, high confidence medical devices, avionics, smart power infrastructure, process control, distributed robotics, and others. All such systems exhibit stringent real-time and safety requirements: computation must progress in parallel with physical processes in the environment, and system disruption can lead to catastrophic consequences. Compared to traditional embedded systems, the vision for CPS calls for open, interconnected systems rather than closed, "black box" devices.

The goal of this course is to introduce the students to the key challenges, design methodologies and research directions in the field of cyber-physical systems, with an emphasis on the design of the underlying computing architecture. In particular, we will show how CPS requirements of predictability and reliability lead to significant changes in the hardware architecture, and we will study state-of-the-art solutions in this area. Due to the multidisciplinary nature of CPS design, the course will also touch on related topics, including: predictable operating system abstractions, timing analysis, modeling and verification.

Lecture Material

Lecture Topic	Slides	Papers
Lecture 1: Introduction to CPS and Course Overview	Instructor Slides
Lecture 2: Introduction to Real-Time Systems	Instructor Slides Slides: Delay-Aware Period Assignment in Control Systems	Required Reading: Cyber Physical Systems: Design Challenges Further References: Delay-Aware Period Assignment in Control Systems
Lecture 3: CPS Applications	Instructor Slides	Required Reading: 777 Flight Control Validation Process Cyber-Physical Modeling of Implantable Cardiac Medical Devices The Smart Thermostat: Using Occupancy Sensors to Save Energy in Homes Further References: Autonomous Driving in Urban Environments: Boss and the Urban Challenge Body Area Networks: A Survey Cutting the Electric Bill for Internet-Scale Systems The Electric Power Grid: Today and Tomorrow
Lecture 4: Predictable Computer Architectures - Memories	Instructor Slides	Required Reading: Implementing Time-predictable Load and Store Operations Predator: A Predictable SDRAM Memory Controller Further References: Scratchpad Memories vs Locked Caches in Hard Real-Time Systems: A Quantitative Comparison An Analyzable Memory Controller for Hard Real-Time CMPs Impact of Cache Partitioning on Multi-Tasking Real Time Embedded Systems
Lecture 5: Predictable Computer Architectures - Interconnects	Instructor Slides	Required Reading: AEthereal Network on Chip: Concepts, Architectures, and Implementations Hardware Support for WCET Analysis of Hard Real-Time Multicore Systems Further References: Real-Time Communication for Multicore Systems with Multi-Domain Ring Buses Predictable Implementation of Real-Time Applications on Multiprocessor Systems-on-Chip
Lecture 6: Predictable Computer Architectures - Microarchitecture	Instructor Slides	Required Reading: Predictable Programming on a Precision Timed Architecture Memory Hierarchies, Pipelines, and Buses for Future Architectures in Time-critical Embedded Systems Further References: Time-Predictable Out-of-Order Execution for Hard Real-Time Systems
Lecture 7: Predictable Computer Architectures - Heterogeneous Systems	Instructor Slides	Required Reading: Real-Time Control of I/O COTS Peripherals for Embedded Systems Anytime Algorithms for GPU Architectures Further References: Deterministic Mechanism for Run-time Reconfiguration Activities in an RTOS Modular dynamic reconfiguration in Virtex FPGAs
Lecture 8 and 9a: Real-Time OS	Instructor Slides PREM presentation Student presentation: Interrupt Management In Real-time Systems	Required Reading: On the Scalability of Real-Time Scheduling Algorithms on Multicore Platforms: A Case Study A Predictable Execution Model for COTS-based Embedded Systems Further References: HIRES: a System for Predictable Hierarchical Resource Management Real-Time Synchronization on Multiprocessors: To Block or Not to Block, to Suspend or Spin? Preventing Interrupt Overload Non-preemptive interrupt scheduling for safe reuse of legacy drivers in real-time systems Modeling device driver effects in real-time schedulability: Study of a network driver
Lecture 9b, 10, 11: Timing Analysis	Instructor Slides Network Calculus online book Student presentation: Real-time communication analysis for on-chip networks with wormhole switching Student presentation: Timing Analysis of Concurrent Programs Running on Shared Cache Multi-Cores	Required Reading - 9b: Fast and Tight Response-Times for Tasks with Offsets Required Reading - 10: System architecture evaluation using modular performance analysis: a case study End-to-End Delay Analysis of Distributed Systems with Cycles in the Task Graph Further References: Real-time communication analysis for on-chip networks with wormhole switching Timing analysis of concurrent programs running on shared cache multi-cores Worst Case Delay Analysis for Memory Interference in Multicore Systems Reliable Performance Analysis of a Multicore Multithreaded System-On-Chip Real-time queueing network theory
Lecture 12a: Monitoring and Hybrid Verification	Instructor Slides	Required Reading: Sampling-based Runtime Verification Hybrid Cyberphysical System Verification With Simplex Using Discrete Abstractions Further References: Handling Mixed Criticality in SoC-based Real-Time Embedded Systems
Lecture 12b: Student Presentations

Reading List

Each student is required to provide a formal seminar presentation during lecture. Each seminar presentation covers one or two related research papers and shall provide an introduction followed by sufficient details for the class to understand the motivation, problems, and main solutions provided by the authors. Papers can be selected from the reading list below (divided by topic). If you wish to cover a different but related topic, please contact the instructor.

Predictable Computer Architectures

OS Abstractions

Timing Analysis

Models and Verification

Final Exam

This is an example text for the final exam (research track). Students will be generally assigned a topic close to their interests. The actual number of questions in the exam could be different from the exam, but it will be similarly structured.