Towards MARTE++ : an enhanced UML-based language to Model and Analyse Real-Time and Embedded Systems for the IoT age

This paper presents requirements for an enhanced version of the UML Profile for MARTE, the current standard of the OMG for the modelling and analysis of real-time embedded systems. Since its adoption by the OMG in 2009 and after the various additions along recent years, MARTE has been essayed in a number of application domains and validation approaches. This paper makes a review of these various efforts describing extensions, additional functionality, and modeling needs that may serve as inputs for the preparation of a formal request for proposals (RFP) at the OMG. Aspects that have been found useful to have in it include modern platforms like Multi-core, Many-core and GPUs, networking for broader domains like the Internet of Things, federation of all modelling artifacts involved in the development process, including tracing mechanisms embedded in the language to link design and run-time artifacts, and more elaborated kinds of quantitative analyses and extra functional properties, like energy and memory consumption, heat dissipation, and temperature distribution. Also methodological aspects like its specification as a profile and/or as a meta-model will need to be discussed. Finally, the standard needs to be reviewed against the new executable UML related specifications; particularly to be in alignment with those semantics of state machines and composite structures.This work receives funding from the Spanish Government under grant number TIN2014-56158-C4-2-P (M2C2), and from the Electronic Component Systems for European Leadership Joint Undertaking under grant agreement No 737494 (MegaM@RT2). This Joint Undertaking receives support from the European Union’s Horizon 2020 research and innovation programme and Sweden, France, Spain, Italy, Finland, Czech Republic. We thank the anonymous reviewers for their insights and proposals of improvement

Accelerating host-compiled simulation by modifying IR code: industrial application in the spatial domain

Space applications rely on long and complex design processes, as they must deal with strict non-functional requirements such as criticality, timeliness, reliability and safety. The huge number of analysis and evaluations performed requires powerful simulations technologies combining high simulation speed and accuracy. Host-compiled simulation is a powerful approach to achieve fast, timed simulation of software running in complex embedded systems. However, in the general term, there is still the need of improving the speed and accuracy of these solutions, and there is a lack of host-compiled approaches oriented to space applications. To solve the first point, this paper presents an alternative that modifies the standard solution of adding the modeling of the cross-compiled control flow in the host computer by modifying the compiler's intermediate representation. That way, the host binary naturally follows the cross-compiled binary flow, avoiding a separate modeling, and improving simulation speed while maintaining accuracy. Additionally, the paper focuses on LEON processor, commonly used by the European Space Agency (ESA).This work has been funded by FEDER/Ministerio de Ciencia, Innovación y Universidades - Agencia Estatal de Investigación/ TEC2017-86722-C4-3-R and the EC through the FP7-JTI 621429 EMC2 project

Uso de recursos profesionales en la enseñanza del desarrollo de SW embebido

In order to prepare the student for its future professional performance, it is required to propose complex and realistic practical activities. However, these kind of activities typically requires large times, resources and collateral knowledge to be carried out. To overcame these difficulties, this work presents a subject of Telecommunication Engineering Degree,taught making use of different professional materials. Using these materials, itis easier to transmit information to the students through case-study methodologies. Additionally, their use simplifies the preparation of problems and complex projects without generating the perception that the activities are mostly resolved thanks to teaching help instead ofdue to student?sperformance. To demonstratethese ideas, the article focuses on three practical activities covered by the subject: one based on the use of web resources, one using information from a professional design contest, and the last onefocused on technical datasheets and application notes.These activities have been selected in order to achieve an adequate difficulty degree and to be attractive for students.Este trabajo ha sido realizado con el soporte del proyecto MINECO TEC2014-58036-C4-3-

Data flow analysis from UML/MARTE models based on binary traces

The design of increasingly complex embedded systems requires powerful solutions from the very beginning of the design process. Model Based Design (MBD) and early simulation have proven to be capable technologies to perform initial design space analysis to optimize system design. Traditional MBD methods and tools typically rely on fixed elements, which makes difficult the evaluation of different platform configurations, communication alternatives or models of computation. Addressing these challenges require flexible design technologies able to support, from a high-level abstract model, full design space exploration, including system specification, binary generation and performance evaluation. In this context, this paper proposes a UML/MARTE based approach able to address the challenges mentioned above by improving design flexibility and evaluation capabilities, including automatic code generation, trace execution collection and trace analysis from the initial UML models. The approach focuses on the definition and analysis of the paths data follow through the different application components, as a way to understand the behavior or the different design solutions.This work has been funded by the EU and the Spanish MICINN/AEI through the ECSEL Comp4Drones and the TEC2017-86722-C4-3-R PLATINO projects

Ravenscar computational model compliant AADL simulation on LEON2

AADL has been proposed for designing and analyzing SW and HW architectures for real-time mission-critical embedded systems. Although the Behavioral Annex improves its simulation semantics, AADL is a language for analyzing architectures and not for simulating them. AADS-T is an AADL simulation tool that supports the performance analysis of the AADL specification throughout the refinement process from the initial system architecture until the complete, detailed application and execution platform are developed. In this way, AADS-T enables the verification of the initial timing constraints during the complete design process. In this paper we focus on the compatibility of AADS-T with the Ravenscar Computational Model (RCM) as part of the TASTE toolset. Its flexibility enables AADS-T to support different processors. In this work we have focused on performing the simulation on a LEON2 processor.This work has been supported by ESTEC 22810/09/NL/JK HW-SW CODESIGN Project contracted to GMV Aerospace and Defence S.A.U

Early, time-approximate modeling of multi-OS Linux platforms in a systemC co-simulation environment

The increase of computational power in embedded systems has allowed integrating together hard real-time tasks and rich applications. Complex SW infrastructures containing both RTOS and GPOS are required to handle this complexity. To optimally map system functionality to the hard-RT SW domain, to the general purpose SW domain or to HW peripherals, early performance evaluations at the first steps of the design process are required. Approximate timed co-simulation has been proposed as a fast solution for system modeling at early design steps. This co-simulation technique allows simulating systems at speed close to functional execution, while considering timing effects. As a consequence, system performance estimations can be obtained early, allowing efficient design space exploration and system refinement. To achieve fast simulation speed, the SW code is pre-annotated with time information. The annotated code is then natively executed, performing what is called native-based co-simulation. Previous native-based simulation environments are not prepared to model multi-OS systems, so the performance evaluation of the different SW domains is not possible. This paper proposes a new embedded system modeling solution considering dual RTOS/GPOS systems. A real Linux-based infrastructure has been modeled an integrated into a state-of-the-art co-simulation environment. The resulting solution is capable of modeling and evaluating all HW and SW system components providing the designer with valuable information for early system optimization and design space exploration.This work has heen supported hy the Spanish MICyT and the EC through Complex FP7-247999 and the TEC2008-04107 projects

Modeling and performance estimation of robotic systems using ROS: application to drone-based services

Smart Robots are an integral part of the 4th Industrial Revolution. Its integration as essential components in robot-based services is not straightforward. Each robot is a cyber-physical system (CPS) where a mechanical part operates under the control of a digital board(s). Modeling and simulation of such devices has specificities to be taken into account. Model-Driven Design (MDD) has proven to be a powerful System Engineering methodology able to cope with the complexity of services built as a system of CPSs (CPSoS). In this paper, a methodology is proposed to seamlessly integrate robots into a MDD framework so that the whole service can be simulated and its performance, analyzed. Although the methodology is valid for robots in general, it has been assessed on a drone-based service.This work has been partially funded by the EU and the Spanish MICINN through the ECSEL Comp4Drones project and the TEC2017-86722-C4-3-R PLATINO project respectively

Bridging MoCs in SystemC specifications of heterogeneous systems

In order to get an efficient specification and simulation of a heterogeneous system, the choice of an appropriate model of computation (MoC) for each system part is essential. The choice depends on the design domain (e.g., analogue or digital), and the suitable abstraction level used to specify and analyse the aspects considered to be important in each system part. In practice, MoC choice is implicitly made by selecting a suitable language and a simulation tool for each system part. This approach requires the connection of different languages and simulation tools when the specification and simulation of the system are considered as a whole. SystemC is able to support a more unified specification methodology and simulation environment for heterogeneous system, since it is extensible by libraries that support additional MoCs. A major requisite of these libraries is to provide means to connect system parts which are specified using different MoCs. However, these connection means usually do not provide enough flexibility to select and tune the right conversion semantic in amixed-level specification, simulation, and refinement process. In this article, converter channels, a flexible approach for MoC connection within a SystemC environment consisting of three extensions, namely, SystemC-AMS, HetSC, and OSSS+R, are presented.This work is supported by the FP6-2005-IST-5 European project

Mega-modeling of complex, distributed, heterogeneous CPS systems

Model-Driven Design (MDD) has proven to be a powerful technology to address the development of increasingly complex embedded systems. Beyond complexity itself, challenges come from the need to deal with parallelism and heterogeneity. System design must target different execution platforms with different OSs and HW resources, even bare-metal, support local and distributed systems, and integrate on top of these heterogeneous platforms multiple functional component coming from different sources (developed from scratch, legacy code and third-party code), with different behaviors operating under different models of computation and communication. Additionally, system optimization to improve performance, power consumption, cost, etc. requires analyzing huge lists of possible design solutions. Addressing these challenges require flexible design technologies able to support from a single-source model its architectural mapping to different computing resources, of different kind and in different platforms. Traditional MDD methods and tools typically rely on fixed elements, which makes difficult their integration under this variability. For example, it is unlikely to integrate in the same system legacy code with a third-party component. Usually some re-coding is required to enable such interconnection. This paper proposes a UML/MARTE system modeling methodology able to address the challenges mentioned above by improving flexibility and scalability. This approach is illustrated and demonstrated on a flight management system. The model is flexible enough to be adapted to different architectural solutions with a minimal effort by changing its underlying Model of Computation and Communication (MoCC). Being completely platform independent, from the same model it is possible to explore various solutions on different execution platforms.This work has been partially funded by the EU and the Spanish MICINN through the ECSEL MegaMart and Comp4Drones projects and the TEC2017-86722-C4-3-R PLATINO project