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Challenges in automotive cyber-physical systems design

Challenges in automotive cyber-physical systems design

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International Conference on Embedded computer systems: Architectures, Modeling and Simulation (IC-SAMOS)

作者： Dip Goswami Reinhard Schneider Alejandro Masrur Martin Lukasiewycz Samarjit Chakraborty Harald Voit Anuradha Annaswamy Institute for Real-Time Computer Systems TU Munich Germany TUM-CREATE Center for Electromobility Singapore Institute for Automatic Control TU Munich Germany Massachusetts Institute of Technology USA

systems with tightly interacting computational (cyber) units and physical systems are generally referred to as cyber-physical systems. They involve an interplay between embedded systems, control theory, real-time systems and software engineering. A very good example of cyber-physical systems design arises in the context of automotive architectures and software. Modern high-end cars have 50-100 processors or electronic control units (ECUs) that communicate over a network of buses such as CAN and FlexRay. In such complex settings, traditional control-theoretic approaches - where control engineers are only concerned with high-level plant and controller models - start breaking down. This is because implementation-level realities such as message delay, jitter, and task execution times are not adequately considered when designing the controller. Hence, it is becoming necessary to adopt a more holistic, cyber-physical systems design approach where the semantic gap between high-level control models and their actual implementations on multiprocessor automotive platforms is quantified and consciously closed. In this paper we give several examples on how this may be done and the current research challenges in this area that are being faced by the academia and the industry.

关键词： Automotive engineering Schedules Algorithm design and analysis Space exploration Delay Mathematical model Control systems

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Unsupervised learning algorithm for adaptive group formation: Collaborative learning support in remotely accessible laboratories

Unsupervised learning algorithm for adaptive group formation...

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International Conference on Information Society (i-Society)

作者： Amir Mujkanovic David Lowe Keith Willey Christian Guetl Centre for Real-time Information Networks Sydney University of Technology Australia Institute for Information Systems and Computer Media Graz University of Technology Graz Austria Curtin University of Technology Perth WA Australia

Skills and knowledge that can be gained by groups of individuals will be affected by the characteristics of those groups. Systematic formation of the groups could therefore potentially lead to significantly improved learning outcomes. This research explores a framework for group formation that continuously adapts rules used for the grouping process in order to optimize the selected performance criteria of the group. We demonstrate an implementation of this approach within the context of groups of students undertaking remote laboratory experiments. The implementation uses multiple linear regression analysis to adaptively update the rules used for creating the groups. In order to address specific learning outcomes, certain behaviors of the group might be desired to achieve this learning outcome. We can show that by using a set of individual/group characteristics and group behavior we can dynamically create rules and hence optimize the selected performance criteria. The selected performance is in reality the group behaviour, which might lead to improved learning outcomes.

关键词： Lead

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Adaptive Switching Controllers for systems with Hybrid Communication Protocols

Adaptive Switching Controllers for Systems with Hybrid Commu...

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American Control Conference

作者： Harald Voit Anuradha Annaswamy Reinhard Schneider Dip Goswami Samarjit Chakraborty Institute of Automatic Control Engineering Technische Universitat Munchen D-80290 Munich Germany Department of Mechanical Engineering Massachussets Institute of Technology Cambridge MA 02319 USA Institute for Real-Time Computer Systems Technische Universitat Munchen D-80290 Munich Germany

ISBN: (纸本)9781457710957

Cyber-Physical systems (CPS) are ubiquitous, motivated by the need to integrate control, computing, and communication, increasing capabilities and declining costs of the underlying technologies, and increased requirements on safety, reliability, and performance. The focus of this paper is the co-design of hybrid communication protocol and adaptive switching control that enables stabilization of multiple control applications using minimal communication resources. The hybrid protocol chosen is one that switches between time-triggered and event-triggered methods in order to realize their combined advantages. A control algorithm is co-designed along with this hybrid protocol so as to exploit the properties of the individual protocols as well as the switches between them. The controller is chosen to be adaptive in order to cope with any uncertainties that may be present. The resulting adaptive, switching controller is shown to be stable in the presence of a class of disturbances.

关键词： Self tuning Controllers Communication protocols Switches communication resources HYBRID Hybrid electric vehicles Co-design computer algorithms protocols switching switching controller

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Shadow-based vehicle model refinement and tracking in advanced automotive driver assistance systems

Shadow-based vehicle model refinement and tracking in advanc...

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2011 9th IEEE Symposium on Embedded systems for real-time Multimedia, EStimedia 2011

作者： Rattei, Florian Kindt, Philipp Pröbstl, Alma Chakraborty, Samarjit Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)9781457721236

Vision-based automotive driver assistance systems have to cope with complex outdoor illumination conditions. Many applications for vehicle detection and tracking consider shadows caused by the sunlight as distracting effects and try to computationally compensate or disregard them. In this paper we suggest a shape-from-shadow approach which uses cast shadows as additional supporting information for vehicle model refinement and tracking. To take the position of the sun into account we only use sensor systems that mid-range vehicles are normally equipped with. Analysing shadows is a suitable method to support rear-view based vehicle tracking. A vehicle's shadow turned out to be a strong feature since it is possible to track a vehicle solely based on its shadow. Another benefit is that we are able to set up and refine three-dimensional shape models of vehicles driving ahead in the same lane. In selected situations it is possible to visually track two vehicles driving on the same lane one after another. © 2011 IEEE.

关键词： Vehicles

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Re-engineering cyber-physical control applications for hybrid communication protocols

Re-engineering cyber-physical control applications for hybri...

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作者： Goswami, Dip Schneider, Reinhard Chakraborty, Samarjit Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)9783981080179

In this paper, we consider a cyber-physical architecture where multiple control applications are divided into multiple tasks, spatially distributed over various processing units that communicate over a bus implementing a hybrid communication protocol, i.e., a protocol with both time-triggered and event-triggered communication schedules (e.g., FlexRay). In spite of efficient utilization of communication bandwidth (BW), event-triggered protocols suffer from unpredictable temporal behavior, which is exactly the opposite in the case of their time-triggered counterparts. In the context of communication delays experienced by the control-related messages exchanged over the shared communication bus, we observe that a distributed control application is more prone to performance deterioration in transient phases compared to in the steady-state. We exploit this observation to re-engineer control applications to operate in two modes, in order to optimally exploit the bi-modal (time- and event-triggered) characteristics of the underlying communication medium. Depending on the state (transient or steady) of the system, both, the control inputs and the communication schedule are now switched. Using a FlexRay-based case study, we show that such a design provides a good trade-off between control performance and bus utilization. © 2011 EDAA.

关键词： Buses

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Designing vm schedulers for embedded real-time applications 11

Designing vm schedulers for embedded real-time applications

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Embedded systems Week 2011, ESWEEK 2011 - 9th IEEE/ACM International Conference on Hardware/Software-Codesign and System Synthesis, CODES+ISSS'11

作者： Masrur, Alejandro Pfeuffer, Thomas Geier, Martin Drössler, Sebastian Chakraborty, Samarjit Institute for Real-Time Computer Systems TU Munich Germany ReliaTec GmbH Garching Germany

ISBN: (纸本)9781450307154

Virtual Machines (VMs) allow for platform-independent soft- ware development and their use in embedded systems is in- creasing. In particular, VMs are rewarding in the context of mixed-criticality applications to provide isolation between critical and non-critical tasks running on the same processor. In this paper, we study the design of a real-time system based on a VM monitor/hypervisor that supports multiple VMs/domains. Since each VM in the system runs several real-time tasks, scheduling the VMs leads to a hierarchical scheduling problem. So far, most published techniques for analyzing hierarchical scheduling deal with the schedulability problem, i.e., for a given hierarchical scheduler, testing whether a set of real-time tasks meet their deadlines. In this paper, we are rather concerned with the synthesis of hierarchical/VM schedulers;that is, how to design a scheduler such that all real-time tasks running on the different VMs meet their deadlines. We consider a setup where the tasks are scheduled on multiple VMs under fixed priorities according to the Deadline Monotonic (DM) policy. The VMs are scheduled under fixed priorities on a Rate Monotonic (RM) basis using one or more processors. A partitioned scheduling of VMs is considered, i.e., VMs are not allowed to migrate from one processor to the other. In this context, we propose a method for selecting optimum time slices and periods for each VM in the system. Our goal is to configure the VM scheduler such that not only all tasks are schedulable but also the minimum possible resources are used. Finally, to illustrate the proposed design technique, we present a case study based on automotive control applications. Copyright 2011 ACM.

关键词： Virtual machine

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On buffering with stochastic guarantees in resource-constrained media players 11

On buffering with stochastic guarantees in resource-constrai...

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Embedded systems Week 2011, ESWEEK 2011 - 9th IEEE/ACM International Conference on Hardware/Software-Codesign and System Synthesis, CODES+ISSS'11

作者： Raman, Balaji Quintin, Guillaume Ooi, Wei Tsang Gangadharan, Deepak Milan, Jerome Chakraborty, Samarjit École Polytechnique Palaiseau France Department of Computer Science National University of Singapore Singapore Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)9781450307154

Playout delay or buffering are commonly used in the case of streaming multimedia to ensure smooth playout. A large delay, however, is required for promising a high quality in display. Such significant delays consume huge on-chip memory. We show that when the constraints on output are slightly relaxed, the playout delay needed can be reduced to a negligible value with no perceivable loss in video quality. We propose a mathematical framework that precisely estimates that minimal playout delay value. Perhaps more importantly, unlike existing analytical models, our framework allows to specify loss and provides guarantees that the desired display quality is achieved with the chosen delay. We present simulation results to validate the minimum delay value obtained from the analytical framework. Using the reduced delay value enormously saves the on-chip memory requirement. Copyright 2011 ACM.

关键词： Multimedia systems

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Efficient test suite reduction by merging Pairs of suitable test cases

Efficient test suite reduction by merging Pairs of suitable ...

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Lecture Notes in computer Science

作者： Cichos, Harald Heinze, Thomas S. Real-time Systems Lab TU Darmstadt Darmstadt Germany Institute of Computer Science Friedrich Schiller University of Jena Jena Germany

ISBN: (纸本)9783642212093

During the development and maintenance of software, the size of a test suite often increases to such an extent that the costs allocated for its execution are exceeded. In this case, the test suite needs to be reduced. A number of approaches address the problem of test suite reduction. Most of them consider the removal or merging of test cases. However, less attention has been paid to the identification of test cases that are suitable for merging. In this paper, we present a novel approach to fill this gap. Using this approach allows for the identification of test case pairs that, when merged, have a high potential for test suite reduction. We show that two test suites reduced by our approach are considerably smaller in size than those, whose merged test cases were selected randomly. Additionally, we examine the effect of composite test goals on the reduction ratio. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Merging

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Automatic generation of topological indoor maps for real-time map-based localization and tracking

Automatic generation of topological indoor maps for real-tim...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Martin Schäfer Christian Knapp Samarjit Chakraborty Institute of Real-Time Computer Systems TU Munich Germany

Personal location information is regarded as the most important contextual information transmitted in ubiquitous systems. Many pedestrian indoor localization systems rely on map-matching to constrain sensor errors. The maps required for computer aided localization and tracking need to incorporate a semantic structure. Such maps are not readily available and therefore most groups working on localization solutions manually create the required maps for specific testing scenarios. To provide a solution for map generation on a larger scale, we have developed a map generation toolkit that parses standard CAD-plans, to automatically generate topological maps for indoor environments. We propose a heuristic parser that separates superfluous data from the information depicting semantic building entities, e.g. rooms and doors. In our experiments approximately 95% of all structures were detected successfully. After the extraction we transform the extracted building information into an object-based building model designed for the application of fast particle-filter-based map-matching algorithms. A performance test with a typical filter implementation demonstrates that the model is sufficiently optimized to achieve pedestrian tracking and localization in real-time.

关键词： Design automation Data mining Solid modeling Semantics Elevators Algorithm design and analysis

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Shadow-based vehicle model refinement and tracking in advanced automotive driver assistance systems

Shadow-based vehicle model refinement and tracking in advanc...

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Embedded systems for real-time Multimedia (EStimedia)

作者： Florian Rattei Philipp Kindt Alma Pröbstl Samarjit Chakraborty Institute for Real-Time Computer Systems TU Munich Germany

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