2016 International Conference on Embedded Software (EMSOFT)最新文献

Verifying cyber-physical systems by combining software model checking with hybrid systems reachability 通过结合软件模型检查和混合系统可达性来验证网络物理系统

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968490

Stanley Bak, S. Chaki

{"title":"Verifying cyber-physical systems by combining software model checking with hybrid systems reachability","authors":"Stanley Bak, S. Chaki","doi":"10.1145/2968478.2968490","DOIUrl":"https://doi.org/10.1145/2968478.2968490","url":null,"abstract":"Cyber-physical systems (CPS) span the communication, computation and control domains. Creating a single, complete, and detailed model of a CPS is not only difficult, but, in terms of verification, probably not useful; current verification algorithms are likely intractable for such all-encompassing models. However, specific CPS domains have specialized formal reasoning methods that can successfully analyze certain aspects of the integrated system. To prove overall system correctness, however, care must be taken to ensure the interfaces of the proofs are consistent and leave no gaps, which can be difficult since they may use different model types and describe different aspects of the CPS. This work proposes a bridge between two important verification methods, software model checking and hybrid systems reachability. A contract automaton (CA) expresses both (1) the restrictions on the interactions between the application and the controller, and (2) the desired system invariants. A sound assume-guarantee style compositional proof rule decomposes the verification into two parts - one verifies the application against the CA using software model checking, and another verifies the controller against the CA using hybrid systems reachability analysis. In this way, the proposed method avoids state-space explosion due to the composition of discrete (application) and continuous (controller) behavior, and can leverage verification tools specialized for each domain. The power of the approach is demonstrated by verifying collision avoidance using models of a distributed group of communicating quadcopters, where the provided models are software code and continuous 2-d quadcopter dynamics.","PeriodicalId":223619,"journal":{"name":"2016 International Conference on Embedded Software (EMSOFT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130423978","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

Synthesizing time-triggered schedules for switched networks with faulty links 故障链路交换网络的时间触发调度综合

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968499

Guy Avni, Shibashis Guha, G. Rodríguez-Navas

{"title":"Synthesizing time-triggered schedules for switched networks with faulty links","authors":"Guy Avni, Shibashis Guha, G. Rodríguez-Navas","doi":"10.1145/2968478.2968499","DOIUrl":"https://doi.org/10.1145/2968478.2968499","url":null,"abstract":"Time-triggered (TT) switched networks are a deterministic communication infrastructure used by real-time distributed embedded systems. These networks rely on the notion of globally discretized time (i.e. time slots) and a static TT schedule that prescribes which message is sent through which link at every time slot, such that all messages reach their destination before a global timeout. These schedules are generated offline, assuming a static network with fault-free links, and entrusting all error-handling functions to the end user. Assuming the network is static is an over-optimistic view, and indeed links tend to fail in practice. We study synthesis of TT schedules on a network in which links fail over time and we assume the switches run a very simple error-recovery protocol once they detect a crashed link. We address the problem of finding a (k, ℓ)-resistant schedule; namely, one that, assuming the switches run a fixed error-recovery protocol, guarantees that the number of messages that arrive at their destination by the timeout is at least ℓ, no matter what sequence of at most k links fail. Thus, we maintain the simplicity of the switches while giving a guarantee on the number of messages that meet the timeout. We show how a (k, ℓ)-resistant schedule can be obtained using a CEGAR-like approach: find a schedule, decide whether it is (k, ℓ)-resistant, and if it is not, use the witnessing fault sequence to generate a constraint that is added to the program. The newly added constraint disallows the schedule to be regenerated in a future iteration while also eliminating several other schedules that are not (k, ℓ)-resistant. We illustrate the applicability of our approach using an SMT-based implementation.","PeriodicalId":223619,"journal":{"name":"2016 International Conference on Embedded Software (EMSOFT)","volume":"439 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125659569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 28

Locally optimal reach set over-approximation for nonlinear systems 非线性系统的局部最优到达集过逼近

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968482

Chuchu Fan, J. Kapinski, Xiaoqing Jin, S. Mitra

{"title":"Locally optimal reach set over-approximation for nonlinear systems","authors":"Chuchu Fan, J. Kapinski, Xiaoqing Jin, S. Mitra","doi":"10.1145/2968478.2968482","DOIUrl":"https://doi.org/10.1145/2968478.2968482","url":null,"abstract":"Safety verification of embedded systems modeled as hybrid systems can be scaled up by employing simulation-guided reach set over-approximation techniques. Existing methods are either applicable to only restricted classes of systems, overly conservative, or computationally expensive. We present new techniques to compute a locally optimal bloating factor based on discrepancy functions, which allow construction of reach set over-approximations from simulation traces for general nonlinear systems. The discrepancy functions are critical for tools like C2E2 to verify bounded time safety properties for complex hybrid systems with nonlinear continuous dynamics. The new discrepancy function is computed using local bounds on a matrix measure under an optimal metric such that the exponential change rate of the discrepancy function is minimized. The new technique is less time consuming and less conservative than existing techniques and does not incur significant computational overhead. We demonstrate the effectiveness of our approach by comparing the performance of a prototype implementation with the state-of-the-art reachability analysis tool Flow*.","PeriodicalId":223619,"journal":{"name":"2016 International Conference on Embedded Software (EMSOFT)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122933838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 37

Robust controller synthesis of switched systems using counterexample guided framework 基于反例制导框架的切换系统鲁棒控制器综合

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968485

H. Ravanbakhsh, S. Sankaranarayanan

{"title":"Robust controller synthesis of switched systems using counterexample guided framework","authors":"H. Ravanbakhsh, S. Sankaranarayanan","doi":"10.1145/2968478.2968485","DOIUrl":"https://doi.org/10.1145/2968478.2968485","url":null,"abstract":"We investigate the problem of synthesizing robust controllers that ensure that the closed loop satisfies an input reach-while-stay specification, wherein all trajectories starting from some initial set I, eventually reach a specified goal set G, while staying inside a safe set S. Our plant model consists of a continuous-time switched system controlled by an external switching signal and plant disturbance inputs. The controller uses a state feedback law to control the switching signal in order to ensure that the desired correctness properties hold, regardless of the disturbance actions. Our approach uses a proof certificate in the form of a robust control Lyapunov-like function (RCLF) whose existence guarantees the reach-while-stay specification. A counterexample guided inductive synthesis (CEGIS) framework is used to find a RCLF by solving a formula iteratively using quantifier free SMT solvers. We compare our synthesis scheme against a common approach that fixes disturbances to nominal values and synthesizes the controller, ignoring the disturbance. We demonstrate that the latter approach fails to yield a robust controller over some benchmark examples, whereas our approach does. Finally, we consider the problem of translating the RCLF synthesized by our approach into a control implementation. We outline the series of offline and real-time computation steps needed. The synthesized controller is implemented and simulated using the Matlab(tm)/Simulink(tm) model-based design framework, and illustrated on some examples.","PeriodicalId":223619,"journal":{"name":"2016 International Conference on Embedded Software (EMSOFT)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115034818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 33

An algorithmic approach to global asymptotic stability verification of hybrid systems 混合系统全局渐近稳定性验证的一种算法

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968483

P. Prabhakar, Miriam García Soto

引用次数: 3

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968481

Zhenkai Zhang, X. Koutsoukos

{"title":"Cache-related preemption delay analysis for multi-level inclusive caches","authors":"Zhenkai Zhang, X. Koutsoukos","doi":"10.1145/2968478.2968481","DOIUrl":"https://doi.org/10.1145/2968478.2968481","url":null,"abstract":"Cache-related preemption delay (CRPD) analysis is crucial when designing embedded control systems that employ preemptive scheduling. CRPD analysis for single-level caches has been studied extensively based on useful cache blocks (UCBs). As high-performance embedded processors are increasingly used, which are often equipped with multi-level caches, CRPD analysis for cache hierarchies also needs to be investigated. Recently, an approach has been proposed to estimate CRPD for multi-level non-inclusive caches. Since multi-level inclusive caches are also commonly used, especially in some multi-core processors, it becomes important to study how to analyze CRPD for inclusive cache hierarchies. However, as shown in this paper, new challenges appear due to the strict inclusion enforcement in the multi-level inclusive caches, which make the traditional UCB concept hard to use. In this paper, we propose a new concept of useful positive references (UPRs) to replace the UCB concept. Based on UPRs, we propose an approach to bound the additional cache misses due to a preemption in a two-level inclusive cache hierarchy. We present theoretical analysis to show the approach is safe, and we evaluate the proposed approach on a set of benchmarks to demonstrate its effectiveness. To the best of our knowledge, this is the first attempt to analyze CRPD for multi-level inclusive caches.","PeriodicalId":223619,"journal":{"name":"2016 International Conference on Embedded Software (EMSOFT)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127240358","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

RMC: An integrated runtime system for adaptive many-core computing RMC:用于自适应多核计算的集成运行时系统

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968494

Jinsu Park, Eunbi Cho, Woongki Baek

引用次数: 4

Modular deductive verification of sampled-data systems 抽样数据系统的模演绎验证

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968495

Daniel Ricketts, G. Malecha, Sorin Lerner

引用次数: 6

Automatic HAL generation for embedded multiprocessor systems 嵌入式多处理器系统的自动HAL生成

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968493

Merten Popp, Orlando Moreira, Wim Yedema, M. Lindwer

引用次数: 4

The SMT-based automatic road network generation in vehicle simulation environment 车辆仿真环境下基于smt的道路网络自动生成

2016 International Conference on Embedded Software (EMSOFT) Pub Date : 2016-10-01 DOI: 10.1145/2968478.2968498

Baekgyu Kim, Akshay Jarandikar, J. Shum, Shin'ichi Shiraishi, Masahiro Yamaura

{"title":"The SMT-based automatic road network generation in vehicle simulation environment","authors":"Baekgyu Kim, Akshay Jarandikar, J. Shum, Shin'ichi Shiraishi, Masahiro Yamaura","doi":"10.1145/2968478.2968498","DOIUrl":"https://doi.org/10.1145/2968478.2968498","url":null,"abstract":"Vehicle simulators are widely used to test the correctness of vehicle control algorithms. It is important to create a virtual road environment in a way that the vehicle algorithm can be tested under various circumstances that may happen in the real world. However, building such a road environment is typically time consuming and performed in a manual and ad-hoc fashion without having a good notion of coverage criteria. We propose the automatic road network generation for vehicle simulation that is based on Satisfiability Modulo Theories (SMT). We first introduce the curve coverage criteria to characterize the property of horizontal/vertical curves that are required to test advanced safety features such as adaptive cruise control or lane keeping assistance. This criteria includes the number of curves, the distance of adjacent curves and horizontal/vertical curvatures. We propose the road network generation algorithms that utilize the SMT solver to determine a set of 3 dimensional coordinates. This algorithm takes an input of the parametrized constraints formalized from the curve coverage criteria and automatically determines a set of 3D coordinates to generate the road structure. Vehicle simulation engines can then use these coordinates to visualize the road networks, and such road networks are guaranteed to conform to the curve coverage criteria. We developed a plug-in for the Unity3D simulation engine that automates this process and demonstrate the applicability of the generated the road network for the adaptive cruise control testing.","PeriodicalId":223619,"journal":{"name":"2016 International Conference on Embedded Software (EMSOFT)","volume":"8 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130832461","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 20