Center for Hybrid and Embedded Software Systems

1. Center for Hybrid andEmbedded Software Systems Christopher Brooks Executive Director, CHESSCenter for Hybrid and Embedded Software SystemsUC Berkeley Based on the February, 2007 overview by Jonathan Sprinkle On behalf of, and with input from, the CHESS Directors: Tom HenzingerEdward A. LeeAlberto Sangiovanni-VincentelliS. Shankar SastryClaire J. Tomlin

2. 2001 National Research Council ReportEmbedded Everywhere “Information technology (IT) is on the verge of another revolution. Driven by the increasing capabilities and ever declining costs of computing and communications devices, IT is being embedded into a growing range of physical devices linked together through networks and will become ever more pervasive as the component technologies become smaller, faster, and cheaper... These networked systems of embedded computers ... have the potential to change radically the way people interact with their environment by linking together a range of devices and sensors that will allow information to be collected, shared, and processed in unprecedented ways. ... The use of [these embedded computers] throughout society could well dwarf previous milestones in the information revolution.” Christopher Brooks, "CHESS Overview"

3. Background on Chess • Founded in 2002 • 5 year National Science Foundation Funding with Partners: • Vanderbilt (ISIS) • University of Memphis • Partners and Affiliates: • Agilent • Bosch RTC • DGIST • General Motors • Hewlett-Packard • Infineon • Microsoft • National Instruments • Toyota Christopher Brooks, "CHESS Overview"

4. Chess Leadership Board of Directors • Tom Henzinger • Edward A. Lee • Alberto Sangiovanni-Vincentelli • S. Shankar Sastry • Claire J. Tomlin Executive Director • Christopher Brooks Other key faculty at Berkeley • Dave Auslander • Ahmad Bahai • Ruzena Bajcsy • Raz Bodik • Karl Hedrick • Kurt Keutzer • George Necula • Koushik Sen • Sanjit Seshia • Masayoshi Tomizuka • Pravin Varaiya This carefully constructed team blends domain experts (for example, in automotive systems, avionics, signal and image processing, and communications) with software technologists and computer scientists. Christopher Brooks, "CHESS Overview"

5. Cyber-Physical Systems • "A cyber-physical system (CPS) integrates computing and communication capabilities with monitoring and / or control of entities in the physical world dependably, safely, securely, efficiently and in real-time.“ - S. Shankar Sastry Christopher Brooks, "CHESS Overview"

6. Cyber-Physical Systems (CPS) Activity • NSF Workshop on CPS: Oct. 16 – 17, 2006, Austin • CPS as part of RTSS: Dec. 3-6, 2007, Tucson • Architecture and Composibility for Cyber-Physical Systems • CPS Week: April 21-24, 2008: St Louis • Part of RTAS, IPSN and HSCC • and other CPS workshops . . . Christopher Brooks, "CHESS Overview"

7. Mission of Chess To provide an environment for graduate research in cyber-physical systems by developing • Model-based design • Tool-supported methodologies For • Real-time • Fault-tolerant • Robust • Secure • Heterogeneous • DistributedSoftware The fate of computers lacking interaction with physical processes. We are on the line to create a “new systems science” that is at once computational and physical. Christopher Brooks, "CHESS Overview"

8. Some Applications Addressed Avionics: UAVs Automotive Automotive Systems Biology Networked Embedded Systems Christopher Brooks, "CHESS Overview"

9. Project Approach • Model-Based Design (the view from above) • principled frameworks for design • specification, modeling, and design • manipulable (mathematical) models • enabling analysis and verification • enabling effective synthesis of implementations • Platform-Based Design (the view from below) • exposing key resource limitations • hiding inessential implementation details • Tools • concrete realizations of design methods Christopher Brooks, "CHESS Overview"

10. Claire J. Tomlin:Decentralized Control of a Quadrotor Aircraft Fleet to seek Information • Students: Gabe Hoffmann, Maryam Kamgarpour, Robin Raffard, and Steven Waslander • Planning operations for teams of aircraft • Collision Avoidance, Region Surveillance • Stanford Testbed of AutonomousRotocraft for Multi-Agent Control(STARMAC) • MURI with Vanderbilt, CMU,Stanford and Berkeley Christopher Brooks, "CHESS Overview"

11. Alberto Sangiovanni-Vincentelli:Metro II: A Next-Generation Framework for Platform-based Design • CHESS Students: Abhijit Davare, Douglas Densmore, Trevor Meyerowitz, Alessandro Pinto, Guang Yang, Haibo Zeng, Qi Zhu • The Metropolis framework – 2004-2006 • platform-based design methodology • used to design embedded systems • advocates the separation of concerns • architectural platform • functionality. • Transform the design through clearly defined abstraction/refinement steps that culminate in a mapping, researchers can explore the system more efficiently. • Metro II – Under development, extends Metropolis • heterogeneous IP import, • orthogonalization of performance from behavior • design space exploration. Christopher Brooks, "CHESS Overview"

12. a a a b a b Tom Henzinger:Games, Times, and Probabilities:Value Iteration in Verification and Control • CHESS Students: Krishnendu Chatterjee, Slobodan Matic • Graph Models of Systems • vertices = states • edges = transitions • paths = behaviors • Verification and control are very special (Boolean) cases of graph-based optimization problems. • They can be generalized to solve questions that involve multiple players, quantitative resources, probabilistic transitions, and continuous state spaces. • The theory and practice of this is still wide open Christopher Brooks, "CHESS Overview"

13. S. Shankar Sastry:Control of Hybrid Systems • “Embedded and autonomous software, computer vision, and computation in novel substrates such as DNA, nonlinear and adaptive control, robotic telesurgery, control of hybrid systems, embedded systems, sensor networks and biological motor control.” • A. Abate, S. Amin, M. Prandini, J. Lygeros, and S. S. Sastry, "Computational approaches to reachability analysis of stochastic hybrid systems," in Hybrid Systems: Computation and Control. Proc. 10th Intl. Conf. (HSCC 2007), A. Bemporad, A. Bicchi, and G. Buttazzo, Eds., Lecture Notes in Computer Science, Vol. 4416, Berlin, Germany: Springer-Verlag, 2007, pp. 4-17. ” • A. D. Ames and S. S. Sastry, "Hybrid geometric reduction of hybrid systems," in Proc. 2006 45th IEEE Conf. on Decision and Control, Piscataway, NJ: IEEE Press, 2006, pp. 923-929. Christopher Brooks, "CHESS Overview"

14. Edward A. LeeModeling, simulation, and design of concurrent, real-time, embedded systems. • Students: Dai Bui, Elaine Cheong, Thomas Huining Feng, Shanna-Shaye Forbes, Ben Lickly, Isaac Liu, Eleftherios Matsikoudis, Slobodan Matic, Hwa-yong Oh, Hiren Patel, Min Van Ly, Yang Zhao, Gang Zhou and Jia Zou • Ptolemy II--Heterogeneous Concurrent Modeling and Design in Java • Precision-timed (PRET) machines: reintroduces timing • Real-time software: MoCs with timing and concurrency • Distributed computing: Programming Temporally Integrated Distributed Embedded Systems (PTIDES) • Understandable concurrency: “The Problem with Threads” • Systems of systems: large scale systems: networking, grid . . . • Abstract semantics: Domain polymorphism, behavioral type sys. • Hybrid systems: Blended continuous and discrete dynamics . . . Christopher Brooks, "CHESS Overview"

15. CHESS Open Source Software • SKETCH 0.9.5, a sketching system based on combinatorial search, as opposed to transformations. (4/23/07) • Viptos 1.0.2, a block-diagram editor and simulator for TinyOS systems. (2/9/07) • Ptolemy II 6.0.2, a block diagram editor and simulator for continuous-time, hybrid and data flow systems. • VisualSense, a visual editor and simulator for wireless sensor network systems and • HyVisual, a block-diagram editor and simulator for continuous-time and hybrid systems. (2/04/06) • CIL, a front-end for the C programming language that facilitates program analysis and transformation. (2/5/07) • Ptplot 5.6, a signal plotter. (1/15/07) • Ellipsoidal Toolbox 1.1, a standalone set of easy-to-use configurable MATLAB routines to perform operations with ellipsoids and hyperplanes of arbitrary dimensions. (12/10/06) • Generic Modeling Environment (GME 6.11.9), a configurable toolkit for creating domain-specific modeling and program synthesis environments. (12/1/06) • Graph Rewriting And Transformation (GReAT 1.6.0), a component technology of GME comprised of a metamodel based graph transformation language useful for the specification and implementation of model-to-model transformations. (12/1/06) • Universal Data Model (UDM 3.1.1) generates C++ API from UML class diagrams. The API can be used to read/write XML files, GME databases, etc. and is component technology for Graph Rewriting And Transformation (GReAT). (12/1/06) • Metropolis 1.1.2 consists of an infrastructure, a tool set, and design methodologies for various application domains. The infrastructure provides a mechanism such that heterogeneous components of a system can be represented uniformly and tools for formal methods can be applied naturally. (10/12/06) • COSI: the COmmunication Synthesis Infrastructure The COSI project aims at providing an infrastructure to assist designer in the difficult task of interconnecting components. (3/15/06) • Hierarchical Timing Language (HTL) Compiler and E-Machine – HTL is a programming language for hard real-time systems. (2/10/06) • Giotto, a methodology for embedded control systems development. (10/28/04) • CHIC, a modular verifier for behavioral compatibility of software and hardware component interfaces. (01/14/03) Christopher Brooks, "CHESS Overview"

16. Center for Hybrid and Embedded Software Systems (CHESS) Summary • CHESS started in 2002 with NSF funding • "A cyber-physical system (CPS) integrates computing and communication capabilities with monitoring and / or control of entities in the physical world dependably, safely, securely, efficiently and in real-time.“ – S. Shankar Sastry • CHESS is providing an environment for graduate research in cyber-physical systems by developing: • Model-based design • Tool-supported methodologies For: • Real-time • Fault-tolerant • Robust • Secure • Heterogeneous • DistributedSoftware CHESS Board of Directors: Edward A. Lee Alberto Sangiovanni-Vincentelli S. Shankar Sastry Claire J. Tomlin Current Industrial Partners: Agilent, Bosch, DGIST, Hewlett Packard, National Instruments, and Toyota. For more information, see: http://chess.eecs.berkeley.edu Christopher Brooks, "CHESS Overview"