ptolemy project vision
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Ptolemy Project Vision. Edward A. Lee Robert S. Pepper Distinguished Professor Eighth Biennial Ptolemy Miniconference April 16, 2009 Berkeley, CA, USA. Cyber-Physical Systems (CPS) Where it is going. CPS: Orchestrating networked computational resources with physical systems. - PowerPoint PPT PresentationTRANSCRIPT
Ptolemy Project Vision
Edward A. LeeRobert S. Pepper Distinguished Professor
Eighth Biennial Ptolemy Miniconference
April 16, 2009Berkeley, CA, USA
Lee, Berkeley 2
Cyber-Physical Systems (CPS)Where it is going
CPS: Orchestrating networked computational resources with physical systems.
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Cyber Physical Systems:Computational +
Physical
CPS is Multidisciplinary
Computer Science:
Carefully abstracts the physical world
System Theory:
Deals directly with physical quantities
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Ptolemy Project Research
Foundations: Timed computational semantics.
Bottom up: Embedded processors (PRET).
Top down: Distributed real-time systems (PTIDES).
Holistic: Scalable model-based design.
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Object Oriented vs. Actor OrientedSoftware Components
The alternative: Actor oriented:
actor name
data (state)
ports
Input data
parameters
Output data
What flows through an object is
evolving data
class name
data
methods
call return
What flows through an object is
sequential control
The established: Object-oriented:
Things happen to objects
Actors make things happen
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Timed Software Semantics
s S N
Causal systems operating on signals are usually naturally (Scott) continuous.
concurrent actor-oriented models
abstraction
fixed-point semantics
super-dense time
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Results
Papers:[1] Lee and Matsikoudis, "
The Semantics of Dataflow with Firing," in From Semantics to Computer Science: Essays in memory of Gilles Kahn, Cambridge 2009.
[2] Ye Zhou and Edward A. Lee. "Causality Interfaces for Actor Networks," ACM Trans. on Embedded Computing Systems, April 2008.
[3] Liu and Lee, "CPO Semantics of Timed Interactive Actor Networks,” Theoretical Computer Science 409 (1): pp.110-25, 2008..
[4] Lee, " Application of Partial Orders to Timed Concurrent Systems," article in Partial order techniques for the analysis and synthesis of hybrid and embedded systems, in CDC 07.
[5] Lee and Zheng, "Leveraging Synchronous Language Principles for Heterogeneous Modeling and Design of Embedded Systems," EMSOFT ’07.
[6] Liu, Matsikoudis, and Lee. "Modeling Timed Concurrent Systems," CONCUR ’06.
[7] Cataldo, Lee, Liu, Matsikoudis and Zheng "A Constructive Fixed-Point Theorem and the Feedback Semantics of Timed Systems," WODES'06
etc. ...
Software:Ptolemy II realizes a number of
timed concurrent models of computation (MoCs) with well-founded rigorous semantics.
Ph.D. Theses:
[1] Haiyang Zheng, "Operational Semantics of Hybrid Systems," May 18, 2007.
[2] Ye Zhou, "Interface Theories for Causality Analysis in Actor Networks," May 15, 2007.
[3] Xiaojun Liu, "Semantic Foundation of the Tagged Signal Model," December 20, 2005.
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Ptolemy II: Our Laboratory for Actor-Oriented Models of Computation
Director from an extensible library defines component interaction semantics or “model of computation.”
Extensile, behaviorally-polymorphic component library.
Visual editor supporting an abstract syntax
Type system for transported data
Concurrency management supporting dynamic model structure.
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Ptolemy Project Research
Foundations: Timed computational semantics.
Bottom up: Embedded processors (PRET).
Top down: Distributed real-time systems (PTIDES).
Holistic: Scalable model-based design.
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Bottom Up: Embedded Processors
Precision-Timed (PRET) MachinesMake temporal behavior as important as logical function.
Timing precision with performance: Challenges: Memory hierarchy (scratchpads?) Deep pipelines (interleaving?) ISAs with timing (deadline instructions?) Multicore (dedicated I/O & real-time processors?) Predictable memory management (Metronome?) Languages with timing (discrete events? Giotto?) Predictable concurrency (synchronous languages?) Composable timed components (actor-oriented?) Precision networks (TTA? Time synchronization?)
See S. Edwards and E. A. Lee, "The Case for the Precision Timed (PRET) Machine," in the Wild and Crazy Ideas Track of the Design Automation Conference (DAC), June 2007.
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PRET Project (Berkeley, Columbia)
Funding from NSF, Toyota, National Instruments, plus cooperation with Xilinx, Synfora, and Tidorum
Staffing: Edward A. Lee (UCB PI) Stephen Edwards (Columbia co-PI) Jan Rabaey (UCB co-PI) John Wawrzynek (UCB co-PI) Christopher Brooks (Technical staff) Hiren Patel (postdoc) Hugo Andrade (NI VIF) Shanna-Shaye Forbes (UCB grad student) Sunjun Kim (Columbia grad student) Ben Lickly (UCB grad student) Isaac Liu (UCB grad student)
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Ptolemy Project Research
Foundations: Timed computational semantics.
Bottom up: Embedded processors (PRET).
Top down: Distributed real-time systems (PTIDES).
Holistic: Scalable model-based design.
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PTIDES: Programming Temporally Integrated Distributed Embedded Systems
Distributed execution under DE semantics, with “model time” and “real time” bound at sensors and actuators.
Input time stamps are ≥ real time
Input time stamps are ≥ real time
Output time stamps are ≤ real time
Output time stamps are ≤ real time
Lee, Berkeley 14
PTIDES Project
Funding from NSF, Agilent, IBM, Toyota, and the State of California MICRO program, in cooperation with the University of Salzburg, Austria.
Staffing: Edward A. Lee (UCB PI) Christopher Brooks (Technical staff) Patricia Derler (Univ. Salzburg grad student) Slobodan Matic (postdoc) Thomas Feng (UCB grad student) Ben Lickly (UCB grad student) Stefan Resmerita (Univ. Salzburg technical staff) Yang Zhao (UCB grad student, Google technical staff) Jia Zou (UCB grad student)
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Ptolemy Project Research
Foundations: Timed computational semantics.
Bottom up: Embedded processors (PRET).
Top down: Distributed real-time systems (PTIDES).
Holistic: Scalable model-based design.
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Hierarchical MultimodelingHierarchical compositionsof models of computation. Maintaining temporal semantics across MoCs is a main challenge.
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Multi-View Modeling:Distinct and separate models of the same system are constructed to model different aspects of the system.
Functional model in Statecharts
Functional model in Ptolemy II
Deployment model in Ptolemy II
Verification model in SMV
Reliability model in Excel
This example is a test case for a collaborative project with Lockheed-Martin
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“Model Engineering” Project
Funding from AFRL, Army Research Office, Air Force Research Office, Bosch, Lockheed-Martin, and Thales.
Staffing: Edward A. Lee (UCB PI) Christopher Brooks (Technical staff) Chihong (Partrick) Cheng (TU Munich) Thomas Huining Feng (UCB grad student) Jackie Mankit Leung (UCB grad student) Eleftherios Matisikoudis (UCB grad student) Stavros Tripakis (Visiting Research Scientist)
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Addressing the Design Challenges for Cyber Physical Systems
Foundations: Timed computational semantics. Abstract semantics on super-dense time
Bottom up: Make timing repeatable. Precision-timed (PRET) machines
Top down: Timed, concurrent components. Distributed real-time discrete-events (PTIDES)
Holistic: Model engineering. Mulimodeling, ontologies, property system, …