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

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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

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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))