EMBEDDED SYSTEM DESIGN

Model Based Design

Doan Duy, Ph. D.
Email: duyd@[Link]

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 Objectives

▪ Understanding the concept of model

▪ Understanding problems of applying
model to CPS
▪ Brief of Model of Continuous Dynamics

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 Contents

1. Introduction to Model
2. Model Design with Cyber-Physical System
3. Model of Continuous Dynamics

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 1. Introduction to Model

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 Modeling, Design, Analysis:
An Iterative Process

❑ Modeling is the process of gaining

a deeper understanding of a system
through imitation. Models specify
what a system does.
❑ Design is the structured creation of
artifacts. It specifies how a system
does what it does. This includes
optimization.
❑Analysis is the process of gaining a deeper understanding of
a system through dissection. It specifies why a system does
what it does (or fails to do what a model says it should do).
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 Models

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 Models vs. Reality

The model:
equation, function
code, schematic
Fidelity is how well
the model and its
The target target match
(the thing
being
modeled).

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 Why is model…

Engineers often confuse the model with its target

You will never strike oil by

drilling through the map!

But this does not in any way

diminish the value of a map!

Solomon Wolf Golomb

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 Determinacy

Some of the most valuable models are

deterministic.
A model is deterministic if, given the initial state and the
inputs, the model defines exactly one behavior.

Deterministic models have proven extremely valuable in the

past.

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 A simple CPS

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 2. Model Design for CPS

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 Model vs. CPS

Do deterministic models make sense for Cyber-physical

systems?

Packet losses Unknowable delays

Uncontrollable scheduling

Unknowable
execution times
Physical noise
Parts failures Imperfect actuation

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 Model need

A Model Need not be True to be Useful

“Essentially, all models are wrong,

but some are useful.”

Box, G. E. P. and N. R. Draper, 1987: Empirical Model-Building and Response

Surfaces. Wiley Series in Probability and Statistics, Wiley.
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 Kinds of models

What kinds of models should we use?

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 Software Models

Physical System Model

Single-threaded imperative programs

are deterministic models
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 Hardware Abstracts

Instruction Set Architectures (ISAs)

are deterministic models
Physical System Model

Waterman, et al., The RISC-V Instruction Set Manual,

Image: Wikimedia Commons
UCB/EECS-2011-62, 2011
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 Schematic models

Physical System Model

Synchronous digital logic

is a deterministic model
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 Equation

Physical System Model

Signal Signal

Image: Wikimedia Commons

Differential Equations
are deterministic models
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 Problem of modelling for CPS
Combinations of Deterministic Models are Nondeterministic

Signal Signal

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 Example: Problem with WCET

A war story:

Ferdinand et al. [2001] determine the WCET of astonishingly simple

avionics code from Airbus running on a Motorola ColdFire 5307, a
pipelined CPU with a unified code and data cache. Despite the
software consisting of a fixed set of non-interacting tasks containing
only simple control structures, their solution required detailed
modeling of the seven-stage pipeline and its precise interaction with
the cache, generating a large integer linear programming problem.

Fundamentally, the ISA of the processor has failed to provide an

adequate abstraction. And the problem has gotten worse since 2001!

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 Timing is not Part of Software and Network Semantics

Correct execution of a program in all widely used

programming languages, and correct delivery of a network
message in all general-purpose networks has nothing to do
with how long it takes to do anything.

Programmers have to step outside the

programming abstractions to specify timing
behavior.

Embedded software designers

have no map!
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 Determinism? Really?

CPS applications operate in an intrinsically nondeterministic

world.

Does it really make sense to insist on deterministic models?

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 Value of Models

◼In science, the value of a model lies in how well its

behavior matches that of the physical system.
◼In engineering, the value of the physical system lies in
how well its behavior matches that of the model.

For a model to be useful, it is necessary

(but not sufficient) to be able to be able to
construct a faithful physical realization.

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 Model

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 Physical Realization

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 Model Fidelity

◼ To a scientist, the model is flawed.

◼ To an engineer, the realization is flawed.

I’m an engineer…
Changing question…
The question is not whether deterministic models can describe
the behavior of cyber-physical systems (with high fidelity).

The question is whether we can build cyber-physical systems

whose behavior matches that of a deterministic model (with
high probability).
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 Determinism vs. Resilience and Adaptability

Deterministic models do not eliminate the need for robust,

fault-tolerant designs.
In fact, they enable such designs, because they make it much
clearer what it means to have a fault!

We have to fix the models!

But how?
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 3. Models of Continuous Dynamic

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 Modeling Techniques

◼ Models that are abstractions of system dynamics

◼ (how system behavior changes over time)

 Modeling physical phenomena – differential equations

 Feedback control systems – time-domain modeling
 Modeling modal behavior – FSMs, hybrid automata, …
 Modeling sensors and actuators –calibration, noise, …
 Hardware and software – concurrency, timing, power, …
 Networks – latencies, error rates, packet losses, …

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 Actor Models with Single Input

x y
S

x: R → R
y: R → R

S: (R→ R) → (R→ R)

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 Thermal Sensor

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 Actor Models with Multiple Inputs

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 Opamp

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 Model of PID Control

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 Q&A

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