Chess Review November 21, 2005 Berkeley, CA Edited and presented by Experimental Research Alberto...
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Transcript of Chess Review November 21, 2005 Berkeley, CA Edited and presented by Experimental Research Alberto...
Chess ReviewNovember 21, 2005Berkeley, CA
Edited and presented by
Experimental Research
Alberto Sangiovanni-VincentelliUC Berkeley
Chess Review, Nov. 21, 2005"Experimental Research", ASV 2
Overview
• Experimental research is an essential component of CHESS– Feedback on approach– Inspiration for new theory– Impact
• Wide range– Industrial and Government test cases
• Automotive (safety-critical distributed systems) to be covered in the afternoon
• System-on-Chip (high-complexity platforms) • Signal Processing Applications• Hierarchical and Distributed Control
– Internal experimental test benches• Wireless Sensor Networks (security, low power)• UAVs (complex control, sensor integration)
– New domains:• Hybrid Systems in Systems Biology
Chess Review, Nov. 21, 2005"Experimental Research", ASV 3
Overarching Criteria
• An application should exercise – Theory: hybrid models, Models of
Computation, control algorithms– Tools and Environments– Path to implementation
• An application should be relevant for industry or for government agencies
Chess Review, Nov. 21, 2005"Experimental Research", ASV 4
Some Applications Addressed
Automotive
Avionics: UAVs
Networked Embedded Systems
Systems Biology
Chess Review, Nov. 21, 2005"Experimental Research", ASV 5
Outline
• Industrial cases– System-on-Chip (high-complexity platforms)– Signal Processing Applications – Hierarchical and Distributed Control
• Internal experimental test benches– UAVs (complex control, sensor integration)
• New domains:– Hybrid Systems in Systems Biology
Chess Review, Nov. 21, 2005"Experimental Research", ASV 6
Metropolis and Xilinx Characterization Environment
AbstractModular Model
Real Performance
Data
Narrow the Gap
Xilinx Virtex II
ML310
Synthesis File
Metropolis currently has a flow to automatically generate sample architectures, extract performance information, and use that information dynamically during simulation.
D. Densmore, A.Donlin, A. Sangiovanni-Vincentelli, “FPGA Architecture Characterization for System Level Performance Analysis”, Design Automation and Test Europe (DATE), 2006. (to appear)
Chess Review, Nov. 21, 2005"Experimental Research", ASV 7
Metropolis Xilinx Design Environment
Metropolis currently has a library of Xilinx based components which a designer can instantiate as an architecture instance. When composed their structure can be extracted for performance data or structural synthesis flows.
AbstractModular Model
Real Performance
Data
Narrow the Gap
Xilinx Virtex II
ML310
Synthesis File
Chess Review, Nov. 21, 2005"Experimental Research", ASV 8
Xilinx Example Designs
Metropolis and Xilinx flow highlights:
• Produces accurate simulation results with fidelity.
• Can capture structural effects like clock cycle and resource usage.
• Large portions automatic, independent, and one time cost operations.
Chess Review, Nov. 21, 2005"Experimental Research", ASV 9
Intel JPEG Encoder Application
Pre-processing
DCT Quantization Huffman
ScanColorConv.
1D-DCTTrans-pose
1D-DCTTrans-pose
ZigZag Mult RLE Lookup
Shift-128
Add4
Sub4
Mult1
Mult2
Merge
Add2
Sub2
Chess Review, Nov. 21, 2005"Experimental Research", ASV 10
Intel MXP5800 Architecture
• Designed for Imaging Applications• Highly Heterogeneous Programmable Platform• Top Level: 8 Image Signal Processors with Mesh
Chess Review, Nov. 21, 2005"Experimental Research", ASV 11
Design Space Exploration
• Replication of scenarios from Intel library
• Accurate Performance Modeling
• Easy implementation of additional scenarios
Cycles for different scenarios
0
500
1000
1500
2000
2500
Hardware Balanced OPE emphasis OPE Heavy
Scenario
Cycl
es
Metropolis ScenariosIntel Software Library
[A. Davare, Q. Zhu, J. Moondanos, ASV, “JPEG Encoding on the MXP5800: A Platform-based Design Case Study,” Proceedings of EstiMedia 2005]
Chess Review, Nov. 21, 2005"Experimental Research", ASV 12
Picoradio Baseband System-Level Design
Early-Late Gate synchronization algorithm (timing recovery)
Explored the different partitioning between analog and digitalExplored the different partitioning between analog and digital
FPAA FPGA
Predominantly analog processing
Chess Review, Nov. 21, 2005"Experimental Research", ASV 13
Design Space Exploration for Integrator
– Define configuration space• different biasing, different device
sizings, etc.
– Impose constraints• bounding ranges for devices size,
biasing conditions, etc.
– Characterization framework• Matlab client: generates
configurations, and the configuration space is statistically sampled
• Ocean server: manages circuit simulation in Spectre and extracts performance figures
– Generate feasible performance space
Explore the Analog PlatformsExplore the Analog Platforms
Chess Review, Nov. 21, 2005"Experimental Research", ASV 14
Outline
• Industrial cases– System-on-Chip (high-complexity platforms)– Signal Processing Applications – Hierarchical and Distributed Control
• Internal experimental test benches– UAVs (complex control, sensor integration)
• New domains:– Hybrid Systems in Systems Biology
Chess Review, Nov. 21, 2005"Experimental Research", ASV 15
Modeling Environment
Signal Processing Platform (SPP) Toolchain:Supported Activities (1)
System Modeling
ConfigurationTranslation
GenerateConfiguration
GenerateConfiguration
Analysis/SimulationTranslation
Component Modeling
BuildBuild
TestTest
GenerativeModeling
GenerativeModeling
Data-TypeDependencyData-Type
Dependency
DataflowDependency
DataflowDependency
PlatformModelingPlatformModeling
HW/SWPartitioning
HW/SWPartitioning
ComponentAllocation
ComponentAllocation
StructuralOptimization
StructuralOptimization
FunctionalValidationFunctionalValidation
LatencyLatency
TimingTiming
Design SpaceModeling
Design SpaceModeling
ModelComponents
ModelComponents
Metamodel VerificationMetamodel Verification
ComponentCore Modeling
ComponentCore Modeling
Platform IntegrationModeling
Platform IntegrationModeling
Platform WrapperSynthesis
Platform WrapperSynthesis
Analysis Interchange
Format (xAIF)
CoActive Platform Configuration
Instrumentation
SPML/GME TranslatorsSPML/GME Builder,Translator
Goal:Component-based development of large-scale, hard real-time embedded signal processing systems
Used by:Raytheon, for embedded DSP applications
Available via:ESCHER
Chess Review, Nov. 21, 2005"Experimental Research", ASV 16
TargetHW
TargetHW
S2C
Analysis ToolsAnalysis ToolsD
2S
SPML/GMESystem Design
Space
CO-ActiveExecution Platform
MATLABFunctional Validation
DESERTDesign space exploration
S2D
SPML/GMEPoint-Design Configuratio
n
S2A
AIRESSchedulability
VHDL CONFCommInterf
Libraries
Signal Flow Modeling
Signal Flow Modeling
Simulink/Stateflow
Ptolemy
Signal Processing Platform (SPP) Toolchain:Tool Components (2)
Optimization Tools
Chess Review, Nov. 21, 2005"Experimental Research", ASV 17
Large-scale, real-time embedded system architecture modeling and analysis
10
0 100Time (in ms)
15 1510 10 15 10 15
MFDFDDM
PCMFMIO
Typical LatencyWC Latency
RELEX Fault Trees
Safety Models
ARINC 653 “Partitioned” Processor Utilization
Software Component Model
Network Connectivity Model
ARV-A(L) SW Services Model MCS SW
AiTR Service Workflow Model
w/Fault Info
Scenario Net Conditions
DESModels
SafetyModels
Network Utilization
Performance AnalysisC4ISRSIM
C4ISR-FPFT
Goal:Architectural modeling and analysis of very large-scale, distributed real-time embedded systems.
Used by:Boeing and SAIC, for analysis of embedded systems architectures. Anticipated code size: 30M SLOC
Chess Review, Nov. 21, 2005"Experimental Research", ASV 18
Model-based Tools for Embedded Fault Diagnostics and Reconfigurable Control
Run-time Platform (RTOS)
Interface & Controllers
Hybrid Observer
Hybrid Diagnostics
Failure Propagation Diagnostics
Active Model
Controller Selector
Reconfiguration Manager
Fault Detector Plant
Models
PlantModels
Visual modeling tool for creating:
•Physical models of the “plant”
•Controller models (incl. reconfiguration)
ControllerModels
ControllerModels Strategy
Models
StrategyModels
Modular run-time environment contains:•Hybrid observer and fault detectors•Hybrid and Discrete diagnostics modules•Controller model library •Reconfigurable controller
Used by:Boeing for autonomous vehicles.
Chess Review, Nov. 21, 2005"Experimental Research", ASV 19
Outline
• Industrial cases– System-on-Chip (high-complexity platforms)– Signal Processing Applications – Hierarchical Distributed Control
• Internal experimental test benches– UAVs (complex control, sensor integration)
• New domains:– Hybrid Systems in Systems Biology
Chess Review, Nov. 21, 2005"Experimental Research", ASV 20
Hierarchical Distributed Control
• Model-based approach using Limited Lookahead Methods• Application: Complex systems made up of interacting
subsystems; Challenge: Hierarchical control of Advanced Life Support (ALS) Systems for NASA – regenerative systems
• Problem Specification:– Dynamic model of subsystems expressed as hybrid
discrete-time equations– Controller input discretized to finite number of values, i.e.,
control input – finite space– There exist buffers (real or virtual) between subsystems– Individual independent controllers for subsystems,
interactions handled through higher level controllers– Modeling abstractions that focus on buffer input/output
relations provide the framework for building models at higher levels.
– Design model-based controllers with limited look-ahead schemes that search for optimal control input in finite space.
Chess Review, Nov. 21, 2005"Experimental Research", ASV 21
Distributed Control applied to Advanced Life Support (ALS) Systems
Controller
AESSystem
Controller
Global ControllerUtility-basedOptimizeperformance
Constraint-basedDistribution of
resourcesWeekly crew
schedule
WRS System
WRSController
ARSSystem
AESController
Supervisory Controller
Power Generation
CrewChamber
SABATIERCDRARO AES OGS
LC-BWP LC-RO LC-AES LC-CDRA LC-SAB LC-OGS
WRS System
BWP
CrewScheduler
Set pointcontrol
Chess Review, Nov. 21, 2005"Experimental Research", ASV 22
ALS: Data flow + Control
O2 Reg.
WRS Controller
Supervisory Controller
WWT CWT
AES RO
BWP PPS
RO_mode,RO_time
AES_mode,AES_time
CW_FO_WRSWW_FI_WRS
Crew Controller
Crew Chamber
Crew
WW_L_WRS CW_L_WRSday_schedule
Estimation module
eCW_FI_CRWeWW_FO_CRW
eCW_FO_ARSeWW_FI_ARS
CW_FI_CRW
CRW_state
CCH_state
week_scheduleWRS_mode
ARS Controller
CDRA
SABATIER
OGSCW_FI_ARS
H2TO2T
CO2
WW_FO_CRW
WW_FO_AES
ARS_mode
O2T_L_ARS
CO2T_L_ARS
H2T_L_ARS
HCA_FO_CRW
LCA_FO_ARS
System Resources
Monitor
CDRM_mode,CDRM_time
OGS_mode,OGS_time
PA_FI_CRW
O2_FO_ARS
H2_FO_ARS
water_level
O2_level
power_level
Measurement
Command
Mass Flow
Measurement
Command
Mass Flow
CO2_FI_ARS
CO2_FO_ARS
H2_FI_ARS
Chess Review, Nov. 21, 2005"Experimental Research", ASV 23
Results
• Evaluate controller performance for 90 day challenge mission – 4 astronauts in lunar habitat
Potable water: Initial: 650 liters; End: 200 liters
Energy stored: Min: 200 kW-hour; Max: 1300 kW-hour
Oxygen tank: Initial = 9.9 kg; Max = 10 kg; Min = 9.9 kgCO2 tank: Initial = 0 kg; Max = 2.6 kg; Min = 1.4 kg
Chess Review, Nov. 21, 2005"Experimental Research", ASV 24
Stability Analysis for Limited Lookahead Control
• System Dynamics• Single-Mode Discrete-Time
• One-step online control policy
))(),(()1( kukxfkx
||),(||minmax: sUuQx
xuxfr
• Objective• For a domain D and an initial
state • xsD, decide if there is a
neighbor-• hood B(r,xs) D of xs such that:• B(r,xs) is finitely reachable from
any point in D
• The system remains in B(xs) under the online control law
• Technical Results To find B(xs) find (NLP) where
Theorem: B(r,xs) is the minimal containable region of xs
To determine finite reachability
Theorem: B(r,xs) Q B(r,xs) is finitely reachable from xRn
Uu
ssn xxxuxfRxQ
||||||),(||: |
||),(||minmax: sUuQx
xuxfr
Q
set of all states from which a control action is available to move the system closer to xs
Qxs
B(r,xs)
Chess Review, Nov. 21, 2005"Experimental Research", ASV 25
Outline
• Industrial cases– System-on-Chip (high-complexity platforms)– Signal Processing Applications – Hierarchical and Distributed Control
• Internal experimental test benches– UAVs (complex control, sensor integration)
• New domains:– Hybrid Systems in Systems Biology
Chess Review, Nov. 21, 2005"Experimental Research", ASV 26
Time-Triggered Software for UAV
• Real-time systems, e.g., automobile control system, flight control system, air traffic control system etc, must produce their results within specified time intervals.
• Real-time systems can be classified to event-triggered systems and time-triggered systems.– In the event-triggered system, all tasks are initiated by an
event which can be sensor inputs or results of other tasks etc. It may be hard to specify precise time for any action due to variance of time of an event, which results in jittering of the system.
– In the time-triggered system, all tasks are initiated by predetermined points in time.
• A missed instant of any action can result in a catastrophe, possibly including the loss of human life, in hard real-time system.
• A hard real-time application demands a predictable, reliable and timely operation which a time-triggered system is able to guarantee.
Chess Review, Nov. 21, 2005"Experimental Research", ASV 27
Plant : Berkeley Autonomous Helicopter
• Radio controlled helicopter from YAMAHA• Control software was originally designed based on an event-triggered
architecture• We have decided to design and implement time-triggered embedded
control software for the UAV as above
Actuator
ESTIMATE
GPS
INS
200ms
10ms
20ms
10ms
Time-triggered Embedded Control S/W
HOVER
CRUISE
bu
ffer
INITIALIZE
Chess Review, Nov. 21, 2005"Experimental Research", ASV 28
Time-triggered executing sequence
10ms
servos
gpsinswaypoint
task1 task1
position
10ms
Hover mode
10ms
servos
gpsins
task2 task2
gpsins
position
position
10ms
Mode switch Cruise
modewaypoint waypoint
gpsinswaypoint
position
• Reading sensor inputs, writing actuator outputs and changing mode are happening at points of predetermined real time
• The time-triggered embedded architecture provides predictable (deterministic) operations of software
Chess Review, Nov. 21, 2005"Experimental Research", ASV 29
Test Results: Hovering and Cruising
Chess Review, Nov. 21, 2005"Experimental Research", ASV 30
Summary
• Time-triggered embedded control software was designed and implemented for the Berkeley autonomous helicopter system
• Embedded control software was implemented with modularity in mind to keep the software clean and make it easy to read and enhance
• Software is structured to have multi-mode and mode switches among modes. New modes can be added and the current mode can be modified or removed with relative ease
• Designed software was mounted and tested on the safety critical helicopter system
Chess Review, Nov. 21, 2005"Experimental Research", ASV 31
Outline
• Industrial cases– System-on-Chip (high-complexity platforms)– Signal Processing Applications – Hierarchical Distributed Control
• Internal experimental test benches– UAVs (complex control, sensor integration)
• New domains:– Hybrid Systems in Systems Biology
Chess Review, Nov. 21, 2005"Experimental Research", ASV 32
Antibiotic biosynthesis in Bacillus subtilis
SpaI
signaltransduction
spaK
spaR
spaG
spaE
spaF
spaI
spaS
spaC
spaT
spaB
subtilinprecursor
SpaK
SpaR~p
SpaT
SpaE+SpaG
SpaF
SpaB
SpaC
p
mature subtilin
modificationtransportcleavage
immunitySigH
SigH
spaRK SpaRK SpaSspaSS1
S2
= discrete states (with randomness)
= continuous statesmodeling with hybrid systeminput
output
Chess Review, Nov. 21, 2005"Experimental Research", ASV 33
Planar cell polarity in Drosophila
phenotype
cell model proteins feedback network
•Simulations•Parameters estimation
•Study of mutants
Chess Review, Nov. 21, 2005"Experimental Research", ASV 34
Box Invariance for biological reactions systems
• Concept of “Set Invariance” around the system equilibrium/a• Naturally prone to describe biological systems (modeled via rate equations)• More flexible than classical notion of (Lyapunov) stability• Yields itself to describe robustness properties• Closely related to lots of concepts from linear algebra and systems theory• Can specify logical conditions for verification purposes
Claim : most of the stable biological reactionssystems are indeed “box invariant”
Very descriptive concept.
A dynamical system is said to be box invariant if there exist a box-shaped invariance set around its equilibrium point(s)
In Collaboration with the A. Tiwari, SRI International
Chess Review, Nov. 21, 2005"Experimental Research", ASV 35
Quantitative and Probabilistic Extensions of Pathway Logic
Pathway Logic (SRI Int.): tool for symbolic modeling of biological pathways
based on formal methods and rewriting logic
• Protein functional domains and their interactions • Queries performed through formal methods
Extensions:1. reasoning with quantitative data2. probabilistic interactions between different domains
In Collaboration with the PL team, SRI International