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Experimental Research Edited and presented by Alberto Sangiovanni-Vincentelli UC Berkeley Chess Review November 21, 2005 Berkeley, CA Overview • Experimental research is an essential component of CHESS – Feedback on approach – Inspiration for new theory – Impact • Wide range – Industrial and Government test cases • Automotive (safety-critical distributed systems) to be covered in the afternoon • System-on-Chip (high-complexity platforms) • Signal Processing Applications • Hierarchical and Distributed Control – Internal experimental test benches • Wireless Sensor Networks (security, low power) • UAVs (complex control, sensor integration) – New domains: • Hybrid Systems in Systems Biology "Experimental Research", ASV Chess Review, Nov. 21, 2005 2 Overarching Criteria • An application should exercise – Theory: hybrid models, Models of Computation, control algorithms – Tools and Environments – Path to implementation • An application should be relevant for industry or for government agencies "Experimental Research", ASV Chess Review, Nov. 21, 2005 3 Some Applications Addressed Automotive Avionics: UAVs Systems Biology Networked Embedded Systems "Experimental Research", ASV Chess Review, Nov. 21, 2005 4 Outline • Industrial cases – System-on-Chip (high-complexity platforms) – Signal Processing Applications – Hierarchical and Distributed Control • Internal experimental test benches – UAVs (complex control, sensor integration) • New domains: – Hybrid Systems in Systems Biology "Experimental Research", ASV Chess Review, Nov. 21, 2005 5 Metropolis and Xilinx Characterization Environment Real Performance Data ML310 Abstract Modular Model Narrow the Gap Synthesis File Metropolis currently has a flow to automatically generate sample architectures, extract performance information, and use that information dynamically during simulation. Xilinx Virtex II D. Densmore, A.Donlin, A. Sangiovanni-Vincentelli, “FPGA Architecture Characterization for System Level Performance Analysis”, Design Automation and Test Europe (DATE), 2006. (to appear) "Experimental Research", ASV Chess Review, Nov. 21, 2005 6 Metropolis Xilinx Design Environment Real Performance Data ML310 Abstract Modular Model Narrow the Gap Synthesis File Xilinx Virtex II Metropolis currently has a library of Xilinx based components which a designer can instantiate as an architecture instance. When composed their structure can be extracted for performance data or structural synthesis flows. "Experimental Research", ASV Chess Review, Nov. 21, 2005 7 Xilinx Example Designs Metropolis and Xilinx flow highlights: • Produces accurate simulation results with fidelity. • Can capture structural effects like clock cycle and resource usage. • Large portions automatic, independent, and one time cost operations. "Experimental Research", ASV Chess Review, Nov. 21, 2005 8 Intel JPEG Encoder Application Preprocessing DCT Color Conv. Scan 1D-DCT Quantization ZigZag Transpose Mult Huffman RLE Lookup Transpose 1D-DCT Add2 Mult1 Add4 Shift -128 Sub2 Merge Mult2 Sub4 "Experimental Research", ASV Chess Review, Nov. 21, 2005 9 Intel MXP5800 Architecture • Designed for Imaging Applications • Highly Heterogeneous Programmable Platform • Top Level: 8 Image Signal Processors with Mesh "Experimental Research", ASV Chess Review, Nov. 21, 2005 10 Design Space Exploration Cycles for different scenarios 2500 1500 1000 500 [A. Davare, Q. Zhu, J. Moondanos, 0 Hardware ASV, “JPEG Encoding on the MXP5800: A Platform-based Design Case Study,” Proceedings of EstiMedia 2005] "Experimental Research", ASV Metropolis Scenarios Intel Software Library 2000 Cycles • Replication of scenarios from Intel library • Accurate Performance Modeling • Easy implementation of additional scenarios Balanced OPE emphasis OPE Heavy Scenario Chess Review, Nov. 21, 2005 11 Picoradio Baseband System-Level Design Explored the different partitioning between analog and digital Early-Late Gate synchronization algorithm (timing recovery) FPAA FPGA Predominantly analog processing "Experimental Research", ASV Chess Review, Nov. 21, 2005 12 Design Space Exploration for Integrator Explore the Analog Platforms – Define configuration space • different biasing, different device sizings, etc. – Impose constraints • bounding ranges for devices size, biasing conditions, etc. – Characterization framework • Matlab client: generates configurations, and the configuration space is statistically sampled • Ocean server: manages circuit simulation in Spectre and extracts performance figures – Generate feasible performance space "Experimental Research", ASV Chess Review, Nov. 21, 2005 13 Outline • Industrial cases – System-on-Chip (high-complexity platforms) – Signal Processing Applications – Hierarchical and Distributed Control • Internal experimental test benches – UAVs (complex control, sensor integration) • New domains: – Hybrid Systems in Systems Biology "Experimental Research", ASV Chess Review, Nov. 21, 2005 14 Signal Processing Platform (SPP) Toolchain: Supported Activities (1) Goal: Componentbased development of large-scale, hard real-time embedded signal processing systems Model Components Used by: Raytheon, for embedded DSP applications Component Modeling Component Core Modeling Platform Integration Modeling Platform Wrapper Synthesis System Modeling Analysis/Simulation Translation Design Space Modeling Generative Modeling Data-Type Dependency Functional Validation Latency Analysis Interchange Format (xAIF) Timing Metamodel Verification Dataflow Dependency Platform Modeling HW/SW Partitioning Generate Configuration CoActive Platform Configuration Build Component Allocation Test Available via: ESCHER SPML/GME Structural Optimization Configuration Translation SPML/GME Translators Instrumentation Builder,Translator Modeling Environment "Experimental Research", ASV Chess Review, Nov. 21, 2005 15 Signal Processing Platform (SPP) Toolchain: Tool Components (2) Optimization Tools DESERT S2D Design space exploration D2S SPML/GME System Design Space MATLAB SPML/GME Point-Design Configuration Simulink/ Stateflow S2A AIRES S2C Ptolemy Signal Flow Modeling Functional Validation Schedulability Analysis Tools CO-Active Execution Platform Libraries VHDL CONF Comm Interf Target HW "Experimental Research", ASV Chess Review, Nov. 21, 2005 16 Large-scale, real-time embedded system architecture modeling and analysis RELEX Fault Trees AiTR Service Workflow Model w/Fault Info C4ISR-FP FT Software Component Model Performance Analysis C4ISR SIM Network Connectivity Model Architectural modeling and analysis of very large-scale, distributed realtime embedded systems. Safety Models MCS SW ARV-A(L) SW Services Model Goal: Safety Models DES Models Used by: Boeing and SAIC, for analysis of embedded systems architectures. Anticipated code size: 30M SLOC "Experimental Research", ASV Scenario Net Conditions MFD FD DM PCM FM IO Typical Latency 10 0 15 WC Latency 10 15 10 15 Time (in ms) 10 15 100 ARINC 653 “Partitioned” Chess Review,Processor Nov. 21, Utilization 2005 17 Network Utilization Model-based Tools for Embedded Fault Diagnostics and Reconfigurable Control Visual modeling tool for creating: •Physical models of the “plant” •Controller models (incl. reconfiguration) Hybrid Diagnostics Modular run-time environment contains: •Hybrid observer and fault detectors •Hybrid and Discrete diagnostics modules •Controller model library •Reconfigurable controller Used by: Boeing for autonomous vehicles. "Experimental Research", ASV Active Model Failure Propagation Diagnostics Fault Detector Hybrid Observer Interface & Controllers Controller Models Strategy Models Controller Selector Plant Models Reconfiguration Manager Run-time Platform (RTOS) Chess Review, Nov. 21, 2005 18 Outline • Industrial cases – System-on-Chip (high-complexity platforms) – Signal Processing Applications – Hierarchical Distributed Control • Internal experimental test benches – UAVs (complex control, sensor integration) • New domains: – Hybrid Systems in Systems Biology "Experimental Research", ASV Chess Review, Nov. 21, 2005 19 Hierarchical Distributed Control • Model-based approach using Limited Lookahead Methods • Application: Complex systems made up of interacting subsystems; Challenge: Hierarchical control of Advanced Life Support (ALS) Systems for NASA – regenerative systems • Problem Specification: – Dynamic model of subsystems expressed as hybrid discretetime equations – Controller input discretized to finite number of values, i.e., control input – finite space – There exist buffers (real or virtual) between subsystems – Individual independent controllers for subsystems, interactions handled through higher level controllers – Modeling abstractions that focus on buffer input/output relations provide the framework for building models at higher levels. – Design model-based controllers with limited look-ahead schemes that search for optimal control input in finite space. "Experimental Research", ASV Chess Review, Nov. 21, 2005 20 Distributed Control applied to Advanced Life Support (ALS) Systems Constraint-based Distribution of resources Weekly crew schedule Global Controller Supervisory Controller WRS Controller AES Controller Crew Scheduler WRS System AES ARS System Crew Chamber Power Generation BWP LC-BWP RO LC-RO "Experimental Research", ASV AES LC-AES CDRA LC-CDRA SABATIER LC-SAB OGS Set point control LC-OGS Chess Review, Nov. 21, 2005 21 ALS: Data flow + Control Measurement water_level System Resources power_level Monitor Command Supervisory Controller O2_level Mass Flow ARS_mode WRS_mode week_schedule O2T_L_ARS Estimation module WW_L_WRS day_schedule WRS Controller AES_mode, AES_time AES WWT Crew Controller eCW_FI_CRW eWW_FO_CRW eCW_FO_ARS eWW_FI_ARS BWP WW_FI_WRS OGS_mode, OGS_time CRW_state CW_L_WRS Crew RO_mode, RO_time Crew Chamber RO CW_FI_CRW PPS CW_FO_WRS CWT CCH_stat e CDRM_mode, CDRM_time HCA_FO_CRW LCA_FO_ARS H2T_L_ARS CO2T_L_ARS CO2_FI_ARS CDRA CO2 O2 Reg. PA_FI_CRW SABATIER CO2_FO_ARS H2_FI_ARS O2T O2_FO_ARS CW_FI_ARS ARS Controller H2T OGS H2_FO_ARS WW_FO_CRW WW_FO_AES "Experimental Research", ASV Chess Review, Nov. 21, 2005 22 Results Potable water: Initial: 650 liters; End: 200 liters • Evaluate controller performance for 90 day challenge mission – 4 astronauts in lunar habitat Energy stored: Min: 200 kW-hour; Max: 1300 kW-hour Oxygen tank: Initial = 9.9 kg; Max = 10 kg; Min = 9.9 kg "Experimental Research", ASV CO2 tank: Initial = 0 kg; Max = 2.6 kg; Min = 1.4 kg Chess Review, Nov. 21, 2005 23 Stability Analysis for Limited Lookahead Control • System Dynamics • Single-Mode Discrete-Time x(k 1) f ( x(k ),u(k )) B(r,xs) Q xs • One-step online control policy r : max min || f ( x, u ) xs || xQ uU • Objective • For a domain D and an initial state • xsD, decide if there is a neighbor• hood B(r,xs) D of xs such that: • B(r,xs) is finitely reachable from any point in D • The system remains in B(xs) under the online control law "Experimental Research", ASV Q set of all states from which a control action is available to move the system closer to xs • Technical Results To find B(xs) find r : max min || f ( x, u ) xs || (NLP) xQ uU whereQ : x R n | || f ( x, u) x || || x x || s s uU Theorem: B(r,xs) is the minimal containable region of xs To determine finite reachability Theorem: B(r,xs) Q B(r,xs) is finitely reachable from xRn Chess Review, Nov. 21, 2005 24 Outline • Industrial cases – System-on-Chip (high-complexity platforms) – Signal Processing Applications – Hierarchical and Distributed Control • Internal experimental test benches – UAVs (complex control, sensor integration) • New domains: – Hybrid Systems in Systems Biology "Experimental Research", ASV Chess Review, Nov. 21, 2005 25 Time-Triggered Software for UAV • Real-time systems, e.g., automobile control system, flight control system, air traffic control system etc, must produce their results within specified time intervals. • Real-time systems can be classified to event-triggered systems and time-triggered systems. – In the event-triggered system, all tasks are initiated by an event which can be sensor inputs or results of other tasks etc. It may be hard to specify precise time for any action due to variance of time of an event, which results in jittering of the system. – In the time-triggered system, all tasks are initiated by predetermined points in time. • A missed instant of any action can result in a catastrophe, possibly including the loss of human life, in hard real-time system. • A hard real-time application demands a predictable, reliable and timely operation which a time-triggered system is able to guarantee. "Experimental Research", ASV Chess Review, Nov. 21, 2005 26 Plant : Berkeley Autonomous Helicopter Time-triggered Embedded Control S/W INS • • • INITIALIZE 200ms 10ms buffer GPS 10ms ESTIMATE HOVER 20ms Actuator CRUISE Radio controlled helicopter from YAMAHA Control software was originally designed based on an event-triggered architecture We have decided to design and implement time-triggered embedded control software for the UAV as above "Experimental Research", ASV Chess Review, Nov. 21, 2005 27 Time-triggered executing sequence Mode switch Hover mode Cruise mode waypoint ins gps waypoint ins gps waypoint ins gps waypoint ins gps task1 task1 task2 task2 position position 10ms servos 10ms position 10ms position servos 10ms • Reading sensor inputs, writing actuator outputs and changing mode are happening at points of predetermined real time • The time-triggered embedded architecture provides predictable (deterministic) operations of software "Experimental Research", ASV Chess Review, Nov. 21, 2005 28 Test Results: Hovering and Cruising "Experimental Research", ASV Chess Review, Nov. 21, 2005 29 Summary • Time-triggered embedded control software was designed and implemented for the Berkeley autonomous helicopter system • Embedded control software was implemented with modularity in mind to keep the software clean and make it easy to read and enhance • Software is structured to have multi-mode and mode switches among modes. New modes can be added and the current mode can be modified or removed with relative ease • Designed software was mounted and tested on the safety critical helicopter system "Experimental Research", ASV Chess Review, Nov. 21, 2005 30 Outline • Industrial cases – System-on-Chip (high-complexity platforms) – Signal Processing Applications – Hierarchical Distributed Control • Internal experimental test benches – UAVs (complex control, sensor integration) • New domains: – Hybrid Systems in Systems Biology "Experimental Research", ASV Chess Review, Nov. 21, 2005 31 Antibiotic biosynthesis in Bacillus subtilis mature subtilin SpaK p SpaB signal transduction SpaT subtilin precursor SpaR~p modification transport cleavage SpaC SpaI SpaF SigH immunity SpaE+SpaG input modeling with hybrid system = discrete states (with randomness) = continuous states SigH output spaRK S1 "Experimental Research", ASV SpaRK spaS S2 SpaS Chess Review, Nov. 21, 2005 32 Planar cell polarity in Drosophila phenotype cell model "Experimental Research", ASV •Simulations •Parameters estimation •Study of mutants proteins feedback network Chess Review, Nov. 21, 2005 33 Box Invariance for biological reactions systems A dynamical system is said to be box invariant if there exist a box-shaped invariance set around its equilibrium point(s) • Concept of “Set Invariance” around the system equilibrium/a • Naturally prone to describe biological systems (modeled via rate equations) • More flexible than classical notion of (Lyapunov) stability • Yields itself to describe robustness properties • Closely related to lots of concepts from linear algebra and systems theory • Can specify logical conditions for verification purposes Claim : most of the stable biological reactions systems are indeed “box invariant” Very descriptive concept. In Collaboration with the A. Tiwari, SRI International "Experimental Research", ASV Chess Review, Nov. 21, 2005 34 Quantitative and Probabilistic Extensions of Pathway Logic Pathway Logic (SRI Int.): tool for symbolic modeling of biological pathways based on formal methods and rewriting logic • Protein functional domains and their interactions • Queries performed through formal methods Extensions: 1. reasoning with quantitative data 2. probabilistic interactions between different domains In Collaboration with the PL team, SRI International "Experimental Research", ASV Chess Review, Nov. 21, 2005 35