Embedded System Design

A unique feature of this open access textbook is to provide a comprehensive introduction to the fundamental knowledge in embedded systems, with applications in cyber-physical systems and the Internet of things. It starts with an introduction to the field and a survey of specification models and languages for embedded and cyber-physical systems. It provides a brief overview of hardware devices used for such systems and presents the essentials of system software for embedded systems, including real-time operating systems. The author also discusses evaluation and validation techniques for embedded systems and provides an overview of techniques for mapping applications to execution platforms, including multi-core platforms. Embedded systems have to operate under tight constraints and, hence, the book also contains a selected set of optimization techniques, including software optimization techniques. The book closes with a brief survey on testing. This fourth edition has been updated and revised to reflect new trends and technologies, such as the importance of cyber-physical systems (CPS) and the Internet of things (IoT), the evolution of single-core processors to multi-core processors, and the increased importance of energy efficiency and thermal issues

Embedded System Design

A unique feature of this open access textbook is to provide a comprehensive introduction to the fundamental knowledge in embedded systems, with applications in cyber-physical systems and the Internet of things. It starts with an introduction to the field and a survey of specification models and languages for embedded and cyber-physical systems. It provides a brief overview of hardware devices used for such systems and presents the essentials of system software for embedded systems, including real-time operating systems. The author also discusses evaluation and validation techniques for embedded systems and provides an overview of techniques for mapping applications to execution platforms, including multi-core platforms. Embedded systems have to operate under tight constraints and, hence, the book also contains a selected set of optimization techniques, including software optimization techniques. The book closes with a brief survey on testing. This fourth edition has been updated and revised to reflect new trends and technologies, such as the importance of cyber-physical systems (CPS) and the Internet of things (IoT), the evolution of single-core processors to multi-core processors, and the increased importance of energy efficiency and thermal issues

Identification of Dendritic Processing in Spiking Neural Circuits

A large body of experimental evidence points to sophisticated signal processing taking place at the level of dendritic trees and dendritic branches of neurons. This evidence suggests that, in addition to inferring the connectivity between neurons, identifying analog dendritic processing in individual cells is fundamentally important to understanding the underlying principles of neural computation. In this thesis, we develop a novel theoretical framework for the identification of dendritic processing directly from spike times produced by spiking neurons. The problem setting of spiking neurons is necessary since such neurons make up the majority of electrically excitable cells in most nervous systems and it is often hard or even impossible to directly monitor the activity within dendrites. Thus, action potentials produced by neurons often constitute the only causal and observable correlate of dendritic processing. In order to remain true to the underlying biophysics of electrically excitable cells, we employ well-established mechanistic models of action potential generation to describe the nonlinear mapping of the aggregate current produced by the tree into an asynchronous sequence of spikes. Specific models of spike generation considered include conductance-based models such as Hodgkin-Huxley, Morris-Lecar, Fitzhugh-Nagumo, as well as simpler models of the integrate-and-fire and threshold-and-fire type. The aggregate time-varying current driving the spike generator is taken to be produced by a dendritic stimulus processor, which is a nonlinear dynamical system capable of describing arbitrary linear and nonlinear transformations performed on one or more input stimuli. In the case of multiple stimuli, it can also describe the cross-coupling, or interaction, between various stimulus features. The behavior of the dendritic stimulus processor is fully captured by one or more kernels, which provide a characterization of the signal processing that is consistent with the broader cable theory description of dendritic trees. We prove that the neural identification problem, stated in terms of identifying the kernels of the dendritic stimulus processor, is mathematically dual to the neural population encoding problem. Specifically, we show that the collection of spikes produced by a single neuron in multiple experimental trials can be treated as a single multidimensional spike train of a population of neurons encoding the parameters of the dendritic stimulus processor. Using the theory of sampling in reproducing kernel Hilbert spaces, we then derive precise results demonstrating that, during any experiment, the entire neural circuit is projected onto the space of input stimuli and parameters of this projection are faithfully encoded in the spike train. Spike times are shown to correspond to generalized samples, or measurements, of this projection in a system of coordinates that is not fixed but is both neuron- and stimulus-dependent. We examine the theoretical conditions under which it may be possible to reconstruct the dendritic stimulus processor from these samples and derive corresponding experimental conditions for the minimum number of spikes and stimuli that need to be used. We also provide explicit algorithms for reconstructing the kernel projection and demonstrate that, under natural conditions, this projection converges to the true kernel. The developed methodology is quite general and can be applied to a number of neural circuits. In particular, the methods discussed span all sensory modalities, including vision, audition and olfaction, in which external stimuli are typically continuous functions of time and space. The results can also be applied to circuits in higher brain centers that receive multi-dimensional spike trains as input stimuli instead of continuous signals. In addition, the modularity of the approach allows one to extend it to mixed-signal circuits processing both continuous and spiking stimuli, to circuits with extensive lateral connections and feedback, as well as to multisensory circuits concurrently processing multiple stimuli of different dimensions, such as audio and video. Another important extension of the approach can be used to estimate the phase response curves of a neuron. All of the theoretical results are accompanied by detailed examples demonstrating the performance of the proposed identification algorithms. We employ both synthetic and naturalistic stimuli such as natural video and audio to highlight the power of the approach. Finally, we consider the implication of our work on problems pertaining to neural encoding and decoding and discuss promising directions for future research

Integrated shared-memory and message-passing communication in the Alewife multiprocessor

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.Includes bibliographical references (p. 237-246) and index.by John David Kubiatowicz.Ph.D

Distributed Real-time Systems - Deterministic Protocols for Wireless Networks and Model-Driven Development with SDL

In a networked system, the communication system is indispensable but often the weakest link w.r.t. performance and reliability. This, particularly, holds for wireless communication systems, where the error- and interference-prone medium and the character of network topologies implicate special challenges. However, there are many scenarios of wireless networks, in which a certain quality-of-service has to be provided despite these conditions. In this regard, distributed real-time systems, whose realization by wireless multi-hop networks becomes increasingly popular, are a particular challenge. For such systems, it is of crucial importance that communication protocols are deterministic and come with the required amount of efficiency and predictability, while additionally considering scarce hardware resources that are a major limiting factor of wireless sensor nodes. This, in turn, does not only place demands on the behavior of a protocol but also on its implementation, which has to comply with timing and resource constraints. The first part of this thesis presents a deterministic protocol for wireless multi-hop networks with time-critical behavior. The protocol is referred to as Arbitrating and Cooperative Transfer Protocol (ACTP), and is an instance of a binary countdown protocol. It enables the reliable transfer of bit sequences of adjustable length and deterministically resolves contest among nodes based on a flexible priority assignment, with constant delays, and within configurable arbitration radii. The protocol's key requirement is the collision-resistant encoding of bits, which is achieved by the incorporation of black bursts. Besides revisiting black bursts and proposing measures to optimize their detection, robustness, and implementation on wireless sensor nodes, the first part of this thesis presents the mode of operation and time behavior of ACTP. In addition, possible applications of ACTP are illustrated, presenting solutions to well-known problems of distributed systems like leader election and data dissemination. Furthermore, results of experimental evaluations with customary wireless transceivers are outlined to provide evidence of the protocol's implementability and benefits. In the second part of this thesis, the focus is shifted from concrete deterministic protocols to their model-driven development with the Specification and Description Language (SDL). Though SDL is well-established in the domain of telecommunication and distributed systems, the predictability of its implementations is often insufficient as previous projects have shown. To increase this predictability and to improve SDL's applicability to time-critical systems, real-time tasks, an approved concept in the design of real-time systems, are transferred to SDL and extended to cover node-spanning system tasks. In this regard, a priority-based execution and suspension model is introduced in SDL, which enables task-specific priority assignments in the SDL specification that are orthogonal to the static structure of SDL systems and control transition execution orders on design as well as on implementation level. Both the formal incorporation of real-time tasks into SDL and their implementation in a novel scheduling strategy are discussed in this context. By means of evaluations on wireless sensor nodes, evidence is provided that these extensions reduce worst-case execution times substantially, and improve the predictability of SDL implementations and the language's applicability to real-time systems

Technical Design Report for the PANDA Micro Vertex Detector

This document illustrates the technical layout and the expected performance of the Micro Vertex Detector (MVD) of the PANDA experiment. The MVD will detect charged particles as close as possible to the interaction zone. Design criteria and the optimisation process as well as the technical solutions chosen are discussed and the results of this process are subjected to extensive Monte Carlo physics studies. The route towards realisation of the detector is outlined

Engineering Benchmarks for Planning: the Domains Used in the Deterministic Part of IPC-4

In a field of research about general reasoning mechanisms, it is essential to have appropriate benchmarks. Ideally, the benchmarks should reflect possible applications of the developed technology. In AI Planning, researchers more and more tend to draw their testing examples from the benchmark collections used in the International Planning Competition (IPC). In the organization of (the deterministic part of) the fourth IPC, IPC-4, the authors therefore invested significant effort to create a useful set of benchmarks. They come from five different (potential) real-world applications of planning: airport ground traffic control, oil derivative transportation in pipeline networks, model-checking safety properties, power supply restoration, and UMTS call setup. Adapting and preparing such an application for use as a benchmark in the IPC involves, at the time, inevitable (often drastic) simplifications, as well as careful choice between, and engineering of, domain encodings. For the first time in the IPC, we used compilations to formulate complex domain features in simple languages such as STRIPS, rather than just dropping the more interesting problem constraints in the simpler language subsets. The article explains and discusses the five application domains and their adaptation to form the PDDL test suites used in IPC-4. We summarize known theoretical results on structural properties of the domains, regarding their computational complexity and provable properties of their topology under the h+ function (an idealized version of the relaxed plan heuristic). We present new (empirical) results illuminating properties such as the quality of the most wide-spread heuristic functions (planning graph, serial planning graph, and relaxed plan), the growth of propositional representations over instance size, and the number of actions available to achieve each fact; we discuss these data in conjunction with the best results achieved by the different kinds of planners participating in IPC-4

Proceedings Work-In-Progress Session of the 13th Real-Time and Embedded Technology and Applications Symposium

The Work-In-Progress session of the 13th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS\u2707) presents papers describing contributions both to state of the art and state of the practice in the broad field of real-time and embedded systems. The 17 accepted papers were selected from 19 submissions. This proceedings is also available as Washington University in St. Louis Technical Report WUCSE-2007-17, at http://www.cse.seas.wustl.edu/Research/FileDownload.asp?733. Special thanks go to the General Chairs – Steve Goddard and Steve Liu and Program Chairs - Scott Brandt and Frank Mueller for their support and guidance