Abstract
In many cyber-physical systems (CPS), software has become critical and drives future innovations. CPS software development, however, faces significant challenges from increasing functional and architectural complexity, dynamic and uncertain physical environment, and diverse design objectives and stringent system requirements. In this chapter, we introduce a model-based software synthesis flow that optimizes the generation of software tasks from functional models and the mapping of those tasks onto embedded platforms, with respect to system timing, security, fault tolerance, performance, modularity, reusability, memory usage, etc. Our approach addresses timing holistically throughout task generation and task mapping, ensures functional correctness, and enables quantitative trade-offs among different design objectives.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsNotes
- 1.
Memory is typically well protected. Our formulation can also be extended to address idle-time errors.
- 2.
We also use the same optimization objective K error cases, based on the observation that in practice K is usually very small during the hyperperiod and the amount of time spent on re-execution is also small compared to regular executions.
References
U. Abelein, H. Lochner, D. Hahn, S. Straube, Complexity, quality and robustness - the challenges of tomorrow’s automotive electronics, in 2012 Design, Automation Test in Europe Conference Exhibition (DATE) (2012), pp. 870–871
Z. Al-Bayati, Y. Sun, H. Zeng, M. Di Natale, Q. Zhu, B. Meyer, Task placement and selection of data consistency mechanisms for real-time multicore applications, in Real-Time and Embedded Technology and Applications Symposium (RTAS), 2015 IEEE (IEEE, New York, 2015), pp. 172–181
Automakers opting for model-based design. http://www.designnews.com
AUTOSAR. http://www.autosar.org
R.C. Baumann, Radiation-induced soft errors in advanced semiconductor technologies. IEEE Trans. Device Mater. Reliab. 5(3), 305–316 (2005)
R. Bosch, CAN specification, version 2.0
A. Canedo, J. Wan, A. Faruque, M. Abdullah, Functional modeling compiler for system-level design of automotive cyber-physical systems, in 2014 IEEE/ACM International Conference on Computer-Aided Design (ICCAD) (IEEE, New York, 2014), pp. 39–46
R.N. Charette, This car runs on code, in IEEE Spectrum (2009)
S. Checkoway, D. McCoy, B. Kantor, D. Anderson, H. Shacham, S. Savage, K. Koscher, A. Czeskis, F. Roesner, T. Kohno et al., Comprehensive experimental analyses of automotive attack surfaces, in USENIX Security Symposium, San Francisco, 2011
L.M. Clements, K.M. Kockelman, Economic effects of automated vehicles. Transp. Res. Rec. J. Transp. Res. Board 2606, 106–114 (2017)
A. Das, A. Kumar, B. Veeravalli, R. Shafik, G. Merrett, B. Al-Hashimi, Workload uncertainty characterization and adaptive frequency scaling for energy minimization of embedded systems, in Proceedings of the 2015 Design, Automation & Test in Europe Conference & Exhibition. EDA Consortium, San Jose, 2015, pp. 43–48
P. Deng, Q. Zhu, M. Di Natale, H. Zeng, Task synthesis for latency-sensitive synchronous block diagram, in 2014 9th IEEE International Symposium on Industrial Embedded Systems (SIES) (IEEE, Piscataway, 2014), pp. 112–121
P. Deng, F. Cremona, Q. Zhu, M.D. Natale, H. Zeng, A model-based synthesis flow for automotive CPS, in 2015 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS) (2015), pp. 198–207
P. Deng, Q. Zhu, A. Davare, A. Mourikis, X. Liu, M.D. Natale, An efficient control-driven period optimization algorithm for distributed real-time systems. IEEE Trans. Comput. 65(12), 3552–3566 (2016)
D. Densmore, A. Simalatsar, A. Davare, R. Passerone, A. Sangiovanni-Vincentelli, Umts mpsoc design evaluation using a system level design framework, in Design, Automation & Test in Europe Conference & Exhibition, 2009. DATE’09 (IEEE, Piscataway, 2009), pp. 478–483
P. Derler, E.A. Lee, A.S. Vincentelli, Modeling cyber-physical systems. Proc. IEEE 100(1), 13–28 (2012)
M. Di Natale, A. Sangiovanni-Vincentelli, Moving from federated to integrated architectures in automotive: the role of standards, methods and tools. Proc. IEEE 98(4), 603 –620 (2010)
J. Diemer, D. Thiele, R. Ernst, Formal worst-case timing analysis of Ethernet topologies with strict-priority and AVB switching, in 2012 7th IEEE International Symposium on Industrial Embedded Systems (SIES) (IEEE, Piscataway, 2012), pp. 1–10
Y. Gao, S.K. Gupta, M.A. Breuer, Using explicit output comparisons for fault tolerant scheduling (FTS) on modern high-performance processors, in DATE 2013 (2013)
Google car: data hog at speeds topping 2700gb per hour. https://goo.gl/9w6LJs
L. Guo, Q. Zhu, P. Nuzzo, R. Passerone, A. Sangiovanni-Vincentelli, E. Lee, Metronomy: a function-architecture co-simulation framework for timing verification of cyber-physical systems, in 2014 International Conference on Hardware/Software Codesign and System Synthesis (CODES+ISSS) (2014), pp. 1–10
P. Hank, T. Suermann, S. Müller, Automotive Ethernet, a holistic approach for a next generation in-vehicle networking standard, in Advanced Microsystems for Automotive Applications 2012 (Springer, Berlin, 2012), pp. 79–89
K. Jo, J. Kim, D. Kim, C. Jang, M. Sunwoo, Development of autonomous car—part I: distributed system architecture and development process. IEEE Trans. Ind. Electron. 61(12), 7131–7140 (2014)
S. Karnouskos, Stuxnet worm impact on industrial cyber-physical system security, in IECON 2011-37th Annual Conference on IEEE Industrial Electronics Society (IEEE, Piscataway, 2011), pp. 4490–4494
K. Keutzer, A.R. Newton, J.M. Rabaey, A. Sangiovanni-Vincentelli, System-level design: orthogonalization of concerns and platform-based design. IEEE Trans. Comput. Aided Des. Integr. Circuits Syst. 19(12), 1523–1543 (2000)
K. Koscher, A. Czeskis, F. Roesner, S. Patel, T. Kohno, S. Checkoway, D. McCoy, B. Kantor, D. Anderson, H. Shacham et al., Experimental security analysis of a modern automobile, in 2010 IEEE Symposium on Security and Privacy (SP) (IEEE, Piscataway, 2010), pp. 447–462
E. Lee, Cyber physical systems: design challenges, in 2008 11th IEEE International Symposium on Object Oriented Real-Time Distributed Computing (ISORC) (2008), pp. 363–369
E.A. Lee, Cyber physical systems: design challenges, in 2008 11th IEEE International Symposium on Object Oriented Real-Time Distributed Computing (ISORC) (IEEE, Piscataway, 2008), pp. 363–369
E.A. Lee, The past, present and future of cyber-physical systems: a focus on models. Sensors 15(3), 4837–4869 (2015)
E.A. Lee, S.A. Seshia, Introduction to Embedded Systems: A Cyber-Physical Systems Approach, Lee & Seshia (MIT Press, Cambridge, 2011)
C.-W. Lin, A. Sangiovanni-Vincentelli, Cyber-security for the Controller Area Network (CAN) communication protocol, in 2012 International Conference on Cyber Security (CyberSecurity) (IEEE, Piscataway, 2012), pp. 1–7
C. Lin, Q. Zhu, C. Phung, A. Sangiovanni-Vincentelli, Security-aware mapping for can-based real-time distributed automotive systems, in 2013 IEEE/ACM International Conference on Computer-Aided Design (ICCAD) (2013), pp. 115–121
C. Lin, Q. Zhu, A. Sangiovanni-Vincentelli, Security-aware mapping for TDMA-based real-time distributed systems, in 2014 IEEE/ACM International Conference on Computer-Aided Design (ICCAD) (2014), pp. 24–31
C. Lin, B. Zheng, Q. Zhu, A. Sangiovanni-Vincentelli, Security-aware design methodology and optimization for automotive systems. ACM Trans. Des. Autom. Electron. Syst. 21(1), 18:1–18:26 (2015)
C. Lin, Q. Zhu, A. Sangiovanni-Vincentelli, Security-aware modeling and efficient mapping for CAN-based real-time distributed automotive systems. IEEE Embed. Syst. Lett. 7(1), 11–14 (2015)
R. Lublinerman, S. Tripakis, Modular code generation from triggered and timed block diagrams, in 14th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS ’08 (2008)
J.P. MacDuffie, T. Fujimoto, Why dinosaurs will keep ruling the auto industry. Harv. Bus. Rev. 88(6), 23–25 (2010)
Mathworks, Why adopt model-based design for embedded control software development? https://goo.gl/i6itpf
G. Miremadi, J. Harlsson, U. Gunneflo, J. Torin, Two software techniques for on-line error detection, in Twenty-Second International Symposium on Fault-Tolerant Computing, 1992. FTCS-22. Digest of Papers (1992), pp. 328–335
F. Mueller, Challenges for cyber-physical systems: security, timing analysis and soft error protection, in High-Confidence Software Platforms for Cyber-Physical Systems (HCSP-CPS) Workshop, Alexandria (2006), p. 4
N. Oh, P. Shirvani, E. McCluskey, Control-flow checking by software signatures. IEEE Trans. Reliab. 51(1), 111–122 (2002)
A. Pinto, A. Bonivento, A.L. Sangiovanni-Vincentelli, R. Passerone, M. Sgroi, System level design paradigms: platform-based design and communication synthesis. ACM Trans. Des. Autom. Electron. Syst. 11(3), 537–563 (2006)
R. Poovendran, K. Sampigethaya, S.K. Gupta, I. Lee, K.V. Prasad, D. Corman, J. Paunicka, Special issue on cyber-physical systems [scanning the issue]. Proc. IEEE 100(1), 6–12 (2012)
R. Queck, Analysis of Ethernet AVB for automotive networks using network calculus, in 2012 IEEE International Conference on Vehicular Electronics and Safety (ICVES) (IEEE, Piscataway, 2012), pp. 61–67
A. Sangiovanni-Vincentelli, Quo vadis, SLD? Reasoning about the trends and challenges of system level design. Proc. IEEE 95(3), 467–506 (2007)
A. Sangiovanni-Vincentelli, M. Di Natale, Embedded system design for automotive applications. Computer 40(10), 42 –51 (2007)
SCADE. http://www.esterel-technologies.com/products/scade-suite/
Simulink - simulation and model-based design. http://www.mathworks.com/products/simulink/. Accessed: 20 April 2016
J. Slay, M.Miller, Lessons Learned from the Maroochy Water Breach (Springer, Berlin, 2008)
I. Studnia, V. Nicomette, E. Alata, Y. Deswarte, M. Kaâniche, Y. Laarouchi, Survey on security threats and protection mechanisms in embedded automotive networks, in 2013 43rd Annual IEEE/IFIP Conference on Dependable Systems and Networks Workshop (DSN-W) (IEEE, Piscataway, 2013), pp. 1–12
J. Sztipanovits, X. Koutsoukos, G. Karsai, N. Kottenstette, P. Antsaklis, V. Gupta, B. Goodwine, J. Baras, S. Wang, Toward a science of cyber-physical system integration. Proc. IEEE 100(1), 29 –44 (2012)
C. Urmson, J. Anhalt, D. Bagnell, C. Baker, R. Bittner, M. Clark, J. Dolan, D. Duggins, T. Galatali, C. Geyer et al., Autonomous driving in urban environments: Boss and the urban challenge. J. Field Robot. 25(8), 425–466 (2008)
C. Weaver, J. Emer, S.S. Mukherjee, S.K. Reinhardt, Techniques to reduce the soft error rate of a high-performance microprocessor, in ACM SIGARCH Computer Architecture News, vol. 32 (IEEE Computer Society, Washington, 2004), p. 264
M. Wolf, A. Weimerskirch, C. Paar, Security in automotive bus systems, in Workshop on Embedded Security in Cars (2004)
S.Ying et al., Foundations for innovation in cyber-physical systems, in Workshop Report, Energetics Incorporated, Columbia (2013)
W. Zheng, Q. Zhu, M. Di Natale, A.S. Vincentelli, Definition of task allocation and priority assignment in hard real-time distributed systems, in 2007. RTSS 2007. 28th IEEE International Real-Time Systems Symposium (IEEE, Piscataway, 2007), pp. 161–170
B. Zheng, Y. Gao, Q. Zhu, S. Gupta, Analysis and optimization of soft error tolerance strategies for real-time systems, in 2015 International Conference on Hardware/Software Codesign and System Synthesis (CODES+ISSS) (2015), pp. 55–64
B. Zheng, P. Deng, R. Anguluri, Q. Zhu, F. Pasqualetti, Cross-layer codesign for secure cyber-physical systems. IEEE Trans. Comput. Aided Des. Integr. Circuits Syst. 35(5), 699–711 (2016)
B. Zheng, C.-W. Lin, H. Yu, H. Liang, Q. Zhu, CONVINCE: a cross-layer modeling, exploration and validation framework for next-generation connected vehicles, in 2016 IEEE/ACM International Conference on Computer-Aided Design (ICCAD) (2016)
B. Zheng, C.W. Lin, H. Liang, S. Shiraishi, W. Li, Q. Zhu, Delay-aware design, analysis and verification of intelligent intersection management, in 2017 IEEE International Conference on Smart Computing (SMARTCOMP) (2017), pp. 1–8
Q. Zhu, P. Deng, Design synthesis and optimization for automotive embedded systems, in Proceedings of the 2014 on International Symposium on Physical Design (ACM, New York, 2014), pp. 141–148
Q. Zhu, Y. Yang, M. Natale, E. Scholte, A. Sangiovanni-Vincentelli, Optimizing the software architecture for extensibility in hard real-time distributed systems. IEEE Trans. Ind. Inf. 6(4), 621–636 (2010)
Q. Zhu, H. Zeng, W. Zheng, M.D. Natale, A. Sangiovanni-Vincentelli, Optimization of task allocation and priority assignment in hard real-time distributed systems. ACM Trans. Embed. Comput. Syst. 11(4), 85 (2012)
Q. Zhu, P. Deng, M. Di Natale, H. Zeng, Robust and extensible task implementations of synchronous finite state machines, in Design, Automation Test in Europe Conference Exhibition (DATE), 2013 (2013), pp. 1319–1324
Acknowledgements
This work has been supported by the National Science Foundation grants CCF-1553757, CCF-1646381, and CNS-1646641, and the Office of Naval Research grants N00014-14-1-0815 and N00014-14-1-0816.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Zheng, B., Liang, H., Wang, Z., Zhu, Q. (2019). Model-Based Software Synthesis for Safety-Critical Cyber-Physical Systems. In: Yu, H., Li, X., Murray, R., Ramesh, S., Tomlin, C. (eds) Safe, Autonomous and Intelligent Vehicles. Unmanned System Technologies. Springer, Cham. https://doi.org/10.1007/978-3-319-97301-2_9
Download citation
DOI: https://doi.org/10.1007/978-3-319-97301-2_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-97300-5
Online ISBN: 978-3-319-97301-2
eBook Packages: EngineeringEngineering (R0)