1. technische universität dortmund fakultät für informatik informatik 12 Cyber-Physical Systems Fundamentals/ Embedded Systems Foundations of Cyber-Physical Systems Jian-Jia Chen (slides are based on Peter Marwedel) TU Dortmund, Informatik 12 © Springer, 2010 2015 年 05 月 04 日 These slides use Microsoft clip arts. Microsoft copyright restrictions apply.

2. - 2 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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 © P. Marwedel, 2011

3. - 3 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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: © P. Marwedel, 2011

4. - 4 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Motivation for Course (3)  The future is embedded, embedded is the future Graphics: © Microsoft (clip arts)

5. - 5 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 What is an embedded system? Graphics: © Microsoft (clip arts)

6. - 6 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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

7. - 7 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Cyber-physical systems and embedded systems CPS = ES + physical environment Embedded systems ("computers in physical environments") Embedded systems ("small computers") Cyber-physical systems

8. - 8 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 What is a Cyber-Physical System? Extreme view: PhysicalCyber Digital Controls Systems, ca. 1980 Cyber-Physical Systems, 2010+ ! © Marco Di Natale

9. - 9 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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

10. - 10 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 CPS: Integration of Cyber and Physics Cyber Physics CPS Graphics: © Microsoft (clip arts)

11. - 11 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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]

12. - 12 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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 Real-timeDependability Quality ofservice

13. - 13 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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  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)

14. - 14 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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

15. technische universität dortmund fakultät für informatik informatik 12 Application areas and examples Graphics: © Alexandra Nolte, Gesine Marwedel, 2003

16. - 16 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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]

17. - 17 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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. © P. Marwedel, 2011

18. - 18 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 More application areas:  railroad  water ways Dependability is of outmost importance. ©Photos: P. Marwedel

19. - 19 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Forestry machines: cyber-physical © Jakob Engblom Networked computer system  Controlling arms & tools  Navigating the forest  Recording the trees harvested  Crucial to efficient work “Tough enough to be out in the woods”

20. - 20 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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

21. - 21 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Internet of Things Internet of things and services Energy Harvesting, 400lx Solar cell Energy storage 7.000 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

22. - 22 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Fabrication Production resources are self- configuring and distributed social machines Industry 4.0 © Fraunhofer IML, Dortmund

23. - 23 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Structural safety Sensors + data analysis Taipeh 101 Bridge at Vancouver Kilauea, Hawaii Möhne lake dam ©Photos: P. Marwedel

24. - 24 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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

25. - 25 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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

26. - 26 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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.

27. - 27 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Integration of Physics and Cyber in Physical Experiments © CERN, 2010

28. - 28 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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

29. - 29 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 More application areas  Telecommunication  Consumer electronics  Robotics  Public safety  Military systems Mostly cyber-physical © Graphics: P. Marwedel, 2011

30. - 30 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Connecting previously isolated systems © Design: P. MarwedelComponents: Microsoft

31. technische universität dortmund fakultät für informatik informatik 12 Educational concept Graphics: © Alexandra Nolte, Gesine Marwedel, 2003

32. - 32 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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

33. - 33 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Concept of CPS & ES Education at Dortmund  Integrated as a specialization into CS curriculum Pro- gramming algorithmscomputer organization Math education EE fundamentals first course on embedded & CP systems lab control systems DSPmachine vision real-time systems project applications Lego, µC graduate level thesis undergraduate OS & networks middle- ware Lab + courses for minor degree

34. - 34 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Structure of the CS curriculum at Dortmund - 3 year bachelor program - Term 1Computer organization Programming & semantics Math education 2Circuits & communication OSAlgorithms 3HW labNetworksSW lab 4Databases… 5Embedded systems fundamentals Software engineering … 6Bachelor project + Thesis …… All dependences met

35. - 35 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Structure of the CS curriculum at Dortmund - 4.5 year diploma program - Term 1Computer organization Programming & semantics Math education 2Circuits & communication OSAlgorithms 3HW labNetworksSW lab 4Databases… 5Embedded systems fundamentals Software engineering … 6Advanced topic in ES …… 7Project group…… 8…… 9Thesis All dependences met

36. - 36 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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:

37. - 37 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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." © Graphics: P. Marwedel, 2012

38. - 38 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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 © Graphics: Springer, Science Publishers, Ad Verbum

39. - 39 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Slides  Slides are available at: http://ls12-www.cs.tu-dortmund.de/~marwedel/es-book  Master format: Powerpoint (2010 –new-);  Derived format: PDF Course announcements

40. - 40 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Flipped classroom  Recorded lectures to be watched at home You will be told which videos to watch (or book sections to read)  Class meetings used to work on work sheets ~10 mins of recap, placing emphasis, supplementary material 2-3 work sheets: solving & discussing problems ~5 mins of preview on to the next class meeting work sheets (usually w/o solutions) stored on EWS after meeting  Role of work at home and class meetings flipped  Lab sessions focusing on practical training with tools  Reasonable percentage of finals based on subset of work sheets

41. - 41 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Benefits  Active learning  Looking at how to use the techniques  Every student is solving the problems (no copying)  Listening to lectures at your own pace  Appropriate in the internet age  Avoiding insufficient participation in class meetings for recorded courses  Higher quality of the recorded lectures  Re-discovery of the value of books  Training team work  Better preparation for the finals

42. - 42 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Simpson‘s experience with flipped classroom © Simpsons

43. - 43 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Schedule: Same as in recorded course DateVideosBookTopicLecturerSlides May 4th (lecture) 01.1-01.3Preface,1.1 -2 Intro, definitions, area, characteristics JJ Chen1.1 May 7th02.1-02.31.3-2.2 Design flows, MoC JJ Chen1.2, 2.1 May 11th03.1-03.32.1-2.4.1 Early phases, timed automata JJ Chen2.1-2.3 May 18th04.1-04.22.4.2.1- 2.4.3 Statecharts, syn- chronous languages JJ Chen2.03 May 21st05.1-05.32.4.4-2.5.3 SDL, data flow, SDF, Kahn process netw. JJ Chen2.04 May 28th06.1-06.42.6.1-2.6.5 Petri nets JJ Chen2.05 June 1st07.1-07.22.7 Discrete event model JJ Chen2.06 June 8th08.1-08.22.8, 2.10 Imperative model, comparison of MoCs Georg2.07 June 11th093.1-3,2 Sensors & sampling KH Chen3.1

44. - 44 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 Schedule: Same as in recorded course (2) DateVideosBookTopicLecturerSlides June 15th10.x3.3.1-3.3.3.2 Execution platforms JJ Chen June 18th11.x3.3.3.3-3.4 Execution platforms JJ Chen June 22th12.x3.5-3.7 Commucation, sampling theorem JJ Chen June 25th13.x4.1 System SW, RTOS, priority inversion JJ Chen June 29th14.x4.2-4.5, 5.1- 5.2.2. Evaluation, Pareto optimality, WCET JJ Chen July 2rd15.x5.2.3-5.4 Real-time calculus, energy & thermal m. JJ Chen July 6th16.x5.5-5.8 Dependability, simulation Ingo July 13th17.x6.1-6.2.3 Aperiodic schedulingJJ Chen July 16th18.x6.2.4, 6.3 Periodic scheduling JJ Chen

45. - 45 - technische universität dortmund fakultät für informatik  J.-J. Chen Informatik 12, 2015 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