technische universität dortmund
fakultät für informatik informatik 12
Embedded Systems
Jian-Jia Chen (slides are based on
Peter Marwedel) TU Dortmund, Informatik 12 © Springer, 2010
2014年 10 月 07 日 These slides use Microsoft clip arts. Microsoft copyright restrictions apply.
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Motivation for course (1)
According to forecasts, future of IT characterized by terms such as
§ Disappearing computer, § Ubiquitous computing, § Pervasive computing, § Ambient intelligence, § Post-PC era, § Cyber-physical systems.
Basic technologies: § Embedded System technologies § Communication technologies
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Motivation for Course (2)
“Information technology (IT) is on the verge of another revolution. ….. networked systems of embedded computers ... have the potential to change radically the way people interact with their environment by linking together a range of devices and sensors that will allow information to be collected, shared, and processed in unprecedented ways. ... The use … throughout society could well dwarf previous milestones in the information revolution.”
National Research Council Report (US) Embedded Everywhere, 2001:
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Motivation for Course (3)
F The future is embedded, embedded is the future
Graphics: © Microsoft (clip arts)
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What is an embedded system?
Graphics: © Microsoft (clip arts)
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Embedded Systems & Cyber-Physical Systems
“Dortmund“ Definition: [Peter Marwedel]
Embedded systems are information processing systems embedded into a larger product
Berkeley: [Edward A. Lee]: Embedded software is software integrated with physical processes. The technical problem is managing time and concurrency in computational systems. Cyber-Physical (cy-phy) Systems (CPS) are integrations of computation with physical processes [Edward Lee, 2006].
Cyber-physical system (CPS) = Embedded System (ES) + physical environment
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Cyber-physical systems and embedded systems
CPS = ES + physical environment
Embedded systems ("computers in physical environments") Embedded systems
("small computers")
Cyber-physical systems
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What is a Cyber-Physical System?
Extreme view:
Physical Cyber
Digital Controls Systems, ca. 1980
Cyber-Physical Systems, 2010+ !
© Marco Di Natale
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Definition according to National Science Foundation (US)
Cyber-physical systems (CPS) are engineered systems that are built from and depend upon the synergy of computational and physical components. Emerging CPS will be coordinated, distributed, and connected, and must be robust and responsive. The CPS of tomorrow will need to far exceed the systems of today in capability, adaptability, resiliency, safety, security, and usability. Examples of the many CPS application areas include the smart electric grid, smart transportation, smart buildings, smart medical technologies, next-generation air traffic management, and advanced manufacturing.
cps-vo.org
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CPS: Integration of Cyber and Physics
Cyber
Physics
CPS
Graphics: © Microsoft (clip arts)
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Definition according to akatech
The physical world and the virtual world – or cyber-space – are merging; cyber-physical systems are developing. Future cyber-physical systems will contribute to security, efficiency, comfort and health systems as never before, and as a result, they will contribute to solving key challenges of our society, such as the aging population, limited resources, mobility, or energy transition.
[Akatech: Cyber-Physical Systems. Driving force for innovation in mobility, health, energy and production, http://www.acatech.de/de/ publikationen/stellungnahmen/kooperationen/detail/artikel/cyber-physical-systems-innovationsmotor-fuer-mobilitaet-gesundheit-energie-und-produktion.html]
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Extending the motivation: Embedded systems and ubiquitous computing
Ubiquitous computing: Information anytime, any- where. Embedded systems provide fundamental technology.
Communication Technology
Optical networking Network management
Distributed applications Service provision
UMTS, DECT, Hiperlan, ATM
© Graphics: European Commission
Embedded Systems Techn.
Robots Control systems Feature extraction and recognition Sensors/actuators A/D-converters
Pervasive/Ubiquitous computing Distributed systems
Embedded web systems
Rea
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Qua
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Growing importance of cyber-physical/ embedded systems
§ 49.7% of Americans own smartphones [www.itfacts.biz, March 31, 2012]
§ …, the market for remote home health monitoring is expected to generate $225 mln revenue in 2011, up from less than $70 mln in 2006, according to Parks Associates. [www.itfacts.biz, Sep. 4th, 2007]
§ Funding in the 7th European Framework § Funding in Horizon 2020 § Creation of the ARTEMIS Joint Undertaking in Europe § Funding of CPS research in the US § Joint education effort of Taiwanese Universities § ….
Graphics: © Microsoft (clip arts)
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Growing importance of cyber-physical & embedded systems (2)
§ .. but embedded chips form the backbone of the electronics driven world in which we live ... they are part of almost everything that runs on electricity [Ryan, EEDesign, 1995]
§ Foundation for the “post PC era“
§ CPS & ES hardly discussed in other courses
§ CPS & ES important for TU Dortmund
§ CPS & ES important for many industries
§ Scope: sets context for specialized courses
Importance of education
technische universität dortmund
fakultät für informatik informatik 12
Application areas and examples
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Application area automotive electronics: clearly cyber-physical
§ Multiple networks
§ Multiple networked processors
Functions by embedded processing:
§ ABS: Anti-lock braking systems
§ ESP: Electronic stability control
§ Airbags
§ Efficient automatic gearboxes
§ Theft prevention with smart keys
§ Blind-angle alert systems
§ ... etc ...
© P. Marwedel, 2011
[Based on slide by J.Engblom]
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Application area avionics: also cyber-physical
§ Flight control systems,
§ anti-collision systems,
§ pilot information systems,
§ power supply system,
§ flap control system,
§ entertainment system,
§ …
Dependability is of outmost importance.
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More application areas:
§ railroad
§ water ways
Dependability is of outmost importance.
©Photos: P. Marwedel
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Forestry machines: cyber-physical
© Jakob Engblom
Networked computer system
§ Controlling arms & tools
§ Navigating the forest § Recording the trees
harvested § Crucial to efficient
work
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Logistics
Applications of embedded/cyber-physical system
technology to logistics:
§ Radio frequency identification (RFID) technology provides easy identification of each and every object, worldwide.
§ Mobile communication allows unprecedented interaction.
§ The need of meeting real-time constraints and scheduling are linking embedded systems and logistics.
§ The same is true of energy minimization issues
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Internet of Things
Internet of things and services
Energy Harvesting, 400lx Solar cell
Energy storage7.000 Telegrams without re-charging ePaper-Grafik-Display
256bit Crypto processor
32 Bit μProcessor <=25 MHz, 512kRAM
Innovationspartner: Würth Industrie Services GmbH Debrunner Koenig Management AG © Fraunhofer IML, Dortmund
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Fabrication
Production resources are self-configuring and distributed social machines
Industry 4.0
© Fraunhofer IML, Dortmund
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Structural safety
Sensors + data analysis
Taipeh 101 Bridge at Vancouver Kilauea, Hawaii
Möhne lake dam
©Photos: P. Marwedel
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Smart Home
§ Zero energy building, generates as much energy as it consumes
§ Provides safety and security § Supports owners § Provides maximum comfort § ambient assisted living
© P. Marwedel
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Smart Medicine
§ Diagnosis § Support of therapy
• Surgery • Aids, e.g. Artificial eye:
- Camera attached to glasses; computer worn at belt; output directly connected to the brain, was at [www.dobelle.com]
- Translation into sound; claiming much better resolution, http://www.seeingwithsound. com/etumble.html
§ evaluation § risk analysis § Information about patients
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switch
power station
control station
sensors and local control
Decentralized Control
centralized control
long distance communication
Local Process control
Centralized control and monitoring
Smart Grid
© DFG-Forschergruppe 1511, TU Dortmund, Wietfeld, Rehtanz et al.
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Integration of Physics and Cyber in Physical Experiments
© CERN, 2010
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Smart Beer Glass
8-bit processor
Capacitive sensor for fluid level
Inductive coil for RF ID activation &
power
CPU and reading coil in the table. Reports the level of fluid in the glass, alerts servers when close to empty
Contact less transmission of power and
readings
© Jakob Engblom
Integrates several technologies: § Radio transmissions § Sensor technology § Magnetic inductance for
power § Computer used for
calibration Impossible without the computer Meaningless without the electronics
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More application areas
§ Telecommunication
§ Consumer electronics
§ Robotics
§ Public safety
§ Military systems
Mostly cyber-physical
© Graphics: P. Marwedel, 2011
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Connecting previously isolated systems
© Design: P. MarwedelComponents: Microsoft
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Educational concept
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Ale
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Broad set of topics
1. Introduction
2. Specification and modeling
3. CPS/ES hardware
4. CPS/ES system software
5. Evaluation
6. Mapping of applications to execution platforms
7. Optimizations
8. Test
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Concept of CPS & ES Education at Dortmund
§ Integrated as a specialization into CS curriculum
Pro- gramming
algorithms computer organization
Math education
EE fundamentals
first course on embedded & CP systems
lab
control systems
DSP machine vision
real-time systems
project
applications
Lego, µC
graduate level
thesis
undergraduate
OS & networks
middle-ware
Lab
+ courses for minor degree
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Structure of the CS curriculum at Dortmund - 3 year bachelor program -
Term 1 Computer
organization Programming & semantics
Math education
2 Circuits & communication
OS Algorithms
3 HW lab Networks SW lab 4 Databases … 5 Embedded systems
fundamentals Software engineering
…
6 Bachelor project + Thesis
… … All dependences met
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Structure of the CS curriculum at Dortmund - 4.5 year diploma program -
Term 1 Computer
organization Programming & semantics
Math education
2 Circuits & communication
OS Algorithms
3 HW lab Networks SW lab 4 Databases … 5 Embedded systems
fundamentals Software engineering
…
6 Advanced topic in ES
… …
7 Project group … … 8 … … 9 Thesis
All dependences met
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Scope avoids problems with narrow perspectives reported by ARTIST
“The lack of maturity of the domain results in a large variety of industrial practices, often due to cultural habits”
“curricula … concentrate on one technique and do not present a sufficiently wide perspective.”
“As a result, industry has difficulty finding adequately trained engineers, fully aware of design choices.”
Source: ARTIST network of excellence: Guidelines for a Graduate Curriculum on Embedded Software and Systems, http://www.artist-embedded.org/Education/Education.pdf, 2003:
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Scope consistent with ARTIST guidelines
"The development of ES cannot ignore the underlying HW characteristics. Timing, memory usage, power consumption, and physical failures are important." "It seems that fundamental bases are really difficult to acquire during continuous training if they haven’t been initially learned, and we must focus on them."
∫ dtP
© Graphics: P. Marwedel, 2012
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Textbook(s)
Several editions/translations: § 1st edition
• English • Original hardcover version • Reprint, soft cover, 2006
• German, 2007 • Chinese, 2006 • Macedonian, 2010
§ 2nd edition, with CPS • English, Dec. 2010/Jan.
2011 • Translated Chinese edition,
2013
Peter Marwedel Peter
Marwedel
Peter Marwedel
© Graphics: Springer, Science Publishers, Ad Verbum
Peter Marwedel
Peter Marwedel Peter
Marwedel
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Slides
§ Slides are available at the course web site
• http://ls12-www.cs.tu-dortmund.de/daes/de/lehre/lehrveranstaltungen/wintersemester-20142015/es-1415.html
• Master format: (mostly) Powerpoint (2010 –new-);
• Derived format: PDF
Course announcements
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Schedule (1)
Date Book Topic Lecturer Slides Oct. 7th Preface,1.1-2 Intro, definitions, area,
characteristics Chen
Oct. 8th 1.3-2.2 Design flows, MoC Chen
Oct. 14th 2.1-2.4.1 Early phases, statecharts Neugebauer
Oct. 21st 2.4.2.1-2.4.3 timed automata, synchronous languages
Kleinsorge
Oct. 22nd 2.4.4-2.5.3 SDL, data flow, SDF, Kahn process netw.
Chen
Oct. 28th 2.6-2.7 Petri nets, Discrete event model
Chen
Oct. 29th 2.8, 2.10 Imperative model, comparison of MoCs
Chen
Nov. 4th 3.1-3.2 Sensors & sampling Chen
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Schedule (2)
Date Book Topic Lecturer Slides Nov.5th 3.3.1-3.3.3.2 Execution platforms Chen
Nov.12nd 3.3.3.3-3.4 Execution platforms Chen
Nov. 13th 3.5-3.7 Communication, sampling theorem
Chen
Nov. 19th 4.1 System SW, RTOS Chen
Nov. 20th 6.1-6.2.3 Aperiodic Scheduling Chen
Nov. 26th 6.2.4-6.3 Periodic Scheduling Chen
Nov. 27th 4.1 Priority Inheritance Chen
Dec. 2nd 4.2-4.5 Evaluation, Pareto optimality, Integer Linear Programming
Kleinsorge
Dec. 3rd 5.1-5.2.2 WCET Kleinsorge
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Schedule (3)
Date Book Topic Lecturer Slides Dec. 9th 5.2.3 Real-Time Calculus Chen Dec. 10th 5.3-5.4 Energy and power
models, thermal models Chen
Dec. 16th 5.5-5.8 Dependability/simulation
Neugebauer
Jan. 6th 6.3.2 Hardware/Software Partitioning
Chen
Jan. 7th 6.4 Mapping Chen
Jan. 13th Real-Time Communication
Chen
Jan. 14th 7.1, 7.2 Optimization I Chen Jan. 20th 7.3 Optimization II Chen
Jan. 21st 7.4 Optimization III: Low-Power Design
Chen
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Schedule (4)
Date Book Topic Lecturer Slides Jan. 22nd TBD Chen Jan. 28th 8 Test Chen
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Summary
§ A look at the future of IT
§ Definition: embedded & cyber-physical (cy-phy) systems
§ Growing importance of embedded & cy-phy systems
§ Application areas & examples
§ Curriculum