2,064,170 research outputs found
Software for Embedded Control Systems
The research of our team deals with the realization of control schemes on digital computers. As such the emphasis is on embedded control software implementation. Applications are in the field of mechatronic devices, using a mechatronic design approach (the integrated and optimal design of a mechanical system and its embedded control system). The ultimate goal is to support the application developer (i.e. mechatronic design engineer) such that implementing control software according to ðo it the first time right¿ becomes business as usual
A Map-Reduce Parallel Approach to Automatic Synthesis of Control Software
Many Control Systems are indeed Software Based Control Systems, i.e. control
systems whose controller consists of control software running on a
microcontroller device. This motivates investigation on Formal Model Based
Design approaches for automatic synthesis of control software.
Available algorithms and tools (e.g., QKS) may require weeks or even months
of computation to synthesize control software for large-size systems. This
motivates search for parallel algorithms for control software synthesis.
In this paper, we present a Map-Reduce style parallel algorithm for control
software synthesis when the controlled system (plant) is modeled as discrete
time linear hybrid system. Furthermore we present an MPI-based implementation
PQKS of our algorithm. To the best of our knowledge, this is the first parallel
approach for control software synthesis.
We experimentally show effectiveness of PQKS on two classical control
synthesis problems: the inverted pendulum and the multi-input buck DC/DC
converter. Experiments show that PQKS efficiency is above 65%. As an example,
PQKS requires about 16 hours to complete the synthesis of control software for
the pendulum on a cluster with 60 processors, instead of the 25 days needed by
the sequential algorithm in QKS.Comment: To be submitted to TACAS 2013. arXiv admin note: substantial text
overlap with arXiv:1207.4474, arXiv:1207.409
C-FLAT: Control-FLow ATtestation for Embedded Systems Software
Remote attestation is a crucial security service particularly relevant to
increasingly popular IoT (and other embedded) devices. It allows a trusted
party (verifier) to learn the state of a remote, and potentially
malware-infected, device (prover). Most existing approaches are static in
nature and only check whether benign software is initially loaded on the
prover. However, they are vulnerable to run-time attacks that hijack the
application's control or data flow, e.g., via return-oriented programming or
data-oriented exploits. As a concrete step towards more comprehensive run-time
remote attestation, we present the design and implementation of Control- FLow
ATtestation (C-FLAT) that enables remote attestation of an application's
control-flow path, without requiring the source code. We describe a full
prototype implementation of C-FLAT on Raspberry Pi using its ARM TrustZone
hardware security extensions. We evaluate C-FLAT's performance using a
real-world embedded (cyber-physical) application, and demonstrate its efficacy
against control-flow hijacking attacks.Comment: Extended version of article to appear in CCS '16 Proceedings of the
23rd ACM Conference on Computer and Communications Securit
Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty
Fault tolerance and safety verification of control systems that have state variable estimation uncertainty are essential for the success of autonomous robotic systems. A software control architecture called mission data system, developed at the Jet Propulsion Laboratory, uses goal networks as the control program for autonomous systems. Certain types of goal networks can be converted into linear hybrid systems and verified for safety using existing symbolic model checking software. A process for calculating the probability of failure of certain classes of verifiable goal networks due to state estimation uncertainty is presented. A verifiable example task is presented and the failure probability of the control program based on estimation uncertainty is found
On Model Based Synthesis of Embedded Control Software
Many Embedded Systems are indeed Software Based Control Systems (SBCSs), that
is control systems whose controller consists of control software running on a
microcontroller device. This motivates investigation on Formal Model Based
Design approaches for control software. Given the formal model of a plant as a
Discrete Time Linear Hybrid System and the implementation specifications (that
is, number of bits in the Analog-to-Digital (AD) conversion)
correct-by-construction control software can be automatically generated from
System Level Formal Specifications of the closed loop system (that is, safety
and liveness requirements), by computing a suitable finite abstraction of the
plant.
With respect to given implementation specifications, the automatically
generated code implements a time optimal control strategy (in terms of set-up
time), has a Worst Case Execution Time linear in the number of AD bits , but
unfortunately, its size grows exponentially with respect to . In many
embedded systems, there are severe restrictions on the computational resources
(such as memory or computational power) available to microcontroller devices.
This paper addresses model based synthesis of control software by trading
system level non-functional requirements (such us optimal set-up time, ripple)
with software non-functional requirements (its footprint). Our experimental
results show the effectiveness of our approach: for the inverted pendulum
benchmark, by using a quantization schema with 12 bits, the size of the small
controller is less than 6% of the size of the time optimal one.Comment: Accepted for publication by EMSOFT 2012. arXiv admin note:
substantial text overlap with arXiv:1107.5638,arXiv:1207.409
Organizational Control Systems and Software Quality: A Cross-National Study.
This study explores the relationship between organizational control modes (behavior, outcome, and clan) andsoftware quality. Much of the previous work on organizational control has examined the choice of modes giventask characteristics. This research extends work in control theory by considering the impact of control modeson the increasingly critical organizational outcome of software quality. The research is set in the context ofsoftware development organizations in three of the largest software developing countries: India, Ireland, andIsrael (the 3Is). A cross sectional survey of 400 software development organizations across the 3Is will be usedto test the developed model. In addition to the theoretical contributions, the study will provide practicalimplications to support software project managers in making better organizational control choices
Autonomous Boat Control Software Design Using Model-Based Systems Engineering
While there is considerable buzz about self-driving cars, self-driving boats are actually more fully developed. The Boat Hardware Control Platform Team was tasked with developing a fleet of small autonomous boats that travel to a destination while avoiding obstacles and staying in formation. The author’s specific task was to develop software used by the boats to detect obstacles and plan a route to a destination. This was done using a method inspired by self-driving cars, which shows promise, but is still being tested at the time of writing. The entire project incorporated model-based systems engineering, which proved to be useful
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