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See detailA Model-Driven Co-Design Framework for Fusing Control and Scheduling Viewpoints
Sundharam, Sakthivel Manikandan UL; Navet, Nicolas UL; Altmeyer, Sebastian et al

in Sensors (2018), 18(2), 628

Model-Driven Engineering (MDE) is widely applied in the industry to develop new software functions and integrate them into the existing run-time environment of a Cyber-Physical System (CPS). The design of ... [more ▼]

Model-Driven Engineering (MDE) is widely applied in the industry to develop new software functions and integrate them into the existing run-time environment of a Cyber-Physical System (CPS). The design of a software component involves designers from various viewpoints such as control theory, software engineering, safety, etc. In practice, while a designer from one discipline focuses on the core aspects of his field (for instance, a control engineer concentrates on designing a stable controller), he neglects or considers less importantly the other engineering aspects (for instance, real-time software engineering or energy efficiency). This may cause some of the functional and non-functional requirements not to be met satisfactorily. In this work, we present a co-design framework based on timing tolerance contract to address such design gaps between control and real-time software engineering. The framework consists of three steps: controller design, verified by jitter margin analysis along with co-simulation, software design verified by a novel schedulability analysis, and the run-time verification by monitoring the execution of the models on target. This framework builds on CPAL (Cyber-Physical Action Language), an MDE design environment based on model-interpretation, which enforces a timing-realistic behavior in simulation through timing and scheduling annotations. The application of our framework is exemplified in the design of an automotive cruise control system. [less ▲]

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See detailA Model-Based Development Environment for Rapid-Prototyping of Latency-Sensitive Automotive Control Software
Sundharam, Sakthivel Manikandan UL; Havet, Lionel; Altmeyer, Sebastian et al

in Proceedings of 6th Intentional Symposium on Embedded computing & system Design (ISED 2016) (2016, December 15)

The innovation in the field of automotive embedded systems has been increasingly relying on software-implemented functions. The control laws of these functions typically assume deterministic sampling ... [more ▼]

The innovation in the field of automotive embedded systems has been increasingly relying on software-implemented functions. The control laws of these functions typically assume deterministic sampling rates and constant delays from input to output. However, on the target processors, the execution times of the software will depend on many factors such as the amount of interferences from other tasks, resulting in varying delays from sensing to actuating. Three approaches supported by tools, namely TrueTime, T-Res, and SimEvents, have been developed to facilitate the evaluation of how timing latencies affect control performance. However, these approaches support the simulation of control algorithms, but not their actual implementation. In this paper, we present a model interpretation engine running in a co-simulation environment to study control performances while considering the run-time delays in to account. Introspection features natively available facilitate the implementation of self-adaptive and fault-tolerance strategies to mitigate and compensate the run-time latencies. A DC servo controller is used as a supporting example to illustrate our approach. Experiments on controller tasks with injected delays show that our approach is on par with the existing techniques with respect to simulation. We then discuss the main benefits of our development approach that are the support for rapid-prototyping and the re-use of the simulation model at run-time, resulting in productivity and quality gains. [less ▲]

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See detailConnected Motorized Riders - A Smart Mobility System to Connect Two and Three-wheelers
Sundharam, Sakthivel Manikandan UL; Fejoz, Loic; Navet, Nicolas UL

in Proceedings of 6th Intentional Symposium on Embedded computing & system Design (ISED 2016) (2016, December 15)

The Smart Cities Mission has been launched in India in 2015 to develop 100 cities, with smart mobility being one of the main topics in the mission. As urban areas are flooded with two (motorcycles) and ... [more ▼]

The Smart Cities Mission has been launched in India in 2015 to develop 100 cities, with smart mobility being one of the main topics in the mission. As urban areas are flooded with two (motorcycles) and three wheelers (auto-rickshaws), introducing smart control of such vehicles may reduce the congestion on the roads and the number of accidents. Indeed, over-speeding and drunken driving are common traffic violations. In this project we propose an IoT-based smart mobility system which tracks data, such as the vehicle location, vehicle speed, alcohol level of the driver, etc. efficiently over the internet. Our system has been conceived with CPAL, a high-level language meant to simulate and execute Cyber Physical Systems including IoT applications. A prototype running on ARM mbed IoT hardware, shows the feasibility of our concept. We believe that more efficient and interactive traffic management, more disciplined driving behaviors, reduction in accident rate, more controlled pollution, increased passenger safety can be achieved if systems like the one prototyped in this work deployed contributing to smarter cities. [less ▲]

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See detailModel Interpretation for an AUTOSAR compliant Engine Control Function
Sundharam, Sakthivel Manikandan UL; Altmeyer, Sebastian; Navet, Nicolas UL

in 7th International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS) (2016, July 05)

Model-Based Development (MBD) is a common practice in the automotive industry to develop complex software, for instance, the control software for automotive engines, which are deployed on modern multi ... [more ▼]

Model-Based Development (MBD) is a common practice in the automotive industry to develop complex software, for instance, the control software for automotive engines, which are deployed on modern multi-core hardware architectures. Such an engine control system consists of different sub-systems, ranging from air system to the exhaust system. Each of these subsystems, again, consists of software functions which are necessary to read from the sensors and write to the actuators. In this setting MBD provides indispensable means to model and implement the desired functionality, and to validate the functional, the non-functional, and in particular the real-time behavior against the requirements. Current industrial practice in model-based development completely relies on generative MBD, i.e., code generation to bridge the gap between model and implementation. An alternative approach, although not yet used in the automotive domain is model interpretation, the direct interpretation of the design models using interpretation engine running on top of the hardware. In this paper, we present a case study to investigate the applicability of model interpretation, in contrast to code generation, for the development of engine control systems. To this end, we model an engine cooling system, specifically the calculation of the engine-coolant temperature, using interpreted model based development, and discuss the benefits and low-lights compared to the existing code generation practice. [less ▲]

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See detailPoster Abstract: An Optimizing Framework for Real-Time Scheduling
Sundharam, Sakthivel Manikandan UL; Altmeyer, Sebastian UL; Navet, Nicolas UL

in Proceedings of 22nd IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2016) (2016, April 12)

Scheduling is crucial in real-time applications. For any real-time system, the desired scheduling policy can be selected based on the scheduling problem itself and the underlying system constraints. This ... [more ▼]

Scheduling is crucial in real-time applications. For any real-time system, the desired scheduling policy can be selected based on the scheduling problem itself and the underlying system constraints. This paper discusses a novel optimization framework which automates the selection and configuration of the scheduling policy. The objective is to let designer state the permissible timing behavior of the system in a declarative manner. The system synthesis step involving both analysis and optimization then generates a scheduling solution which at runtime is enforced by the execution environment. [less ▲]

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See detailDemo: Applications of the CPAL language to model, simulate and program Cyber-Physical Systems
Fejoz, Loïc; Navet, Nicolas UL; Sundharam, Sakthivel Manikandan UL et al

Poster (2016, April 12)

CPAL is a new language to model, simulate, verify and program Cyber-Physical Systems (CPS). CPAL serves to describe both the functional behaviour of activities (i.e., the code of the function itself) as ... [more ▼]

CPAL is a new language to model, simulate, verify and program Cyber-Physical Systems (CPS). CPAL serves to describe both the functional behaviour of activities (i.e., the code of the function itself) as well as the functional architecture of the system (i.e., the set of functions, how they are activated, and the data flows among the functions). CPAL is meant to support two use-cases. Firstly, CPAL is a development and design-space exploration environment for CPS with main features being the formal description, the editing, graphical representation and simulation of CPS models. Secondly, CPAL is a real-time execution platform. The vision behind CPAL is that a model is executed and verified in simulation mode on a workstation and the same model can be later run on an embedded board with a timing-equivalent run-time behaviour. The design and development of CPAL have been organized around a set of realistic case-studies that will be demonstrated during the demo session. [less ▲]

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See detailThe Case for FIFO Real-Time Scheduling
Altmeyer, Sebastian UL; Sundharam, Sakthivel Manikandan UL; Navet, Nicolas UL

Report (2016)

Selecting the right scheduling policy is a crucial issue in the development of an embedded real-time application. Whereas scheduling policies are typically judged according to their ability to schedule ... [more ▼]

Selecting the right scheduling policy is a crucial issue in the development of an embedded real-time application. Whereas scheduling policies are typically judged according to their ability to schedule task sets at a high processor utilizations, other concerns, such as predictability and simplicity are often overlooked.In this paper, we argue that FIFO scheduling with offsets is a suitable choice when these concerns play a key role. To this end, we examine the predictability of FIFO, present a schedulability analysis for it and evaluate both, performance and predictability of FIFO scheduling with and without offsets. Our results show that FIFO with offsets exhibits competitive performance for task with regular periods, at an unmatched predictability. [less ▲]

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