CSR - EHS: Formal Methods for Control and Real-Time Scheduling Co-Design

CSR - EHS：控制和实时调度协同设计的形式化方法

• 批准号: 0712502
• 负责人: Paulo Tabuada
• 金额: --
• 依托单位: University of California-Los Angeles
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-08-22 至 2009-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0712502&HistoricalAwards=false
• 关键词: CSR; EHS; Formal; Methods; Control

The control of networked embedded systems poses challenging new problems questioning standard assumptions in systems and control theory. Control design has traditionally benefited from a useful abstraction that enabled the separation of continuous mathematical models of control systems and feedback laws from hardware/software and real-time implementation details such as sensor quantization, sampling rates, real-time scheduling, etc. The prevailing assumption that control loops were implemented in highly engineered dedicated hardware systems can no longer be made. Networked embedded systems have limited resources that drastically reduce the quality of control. In the context of this project, formal methods for the integration of control design with real-time scheduling are being developed in order to overcome some of the limitations imposed by the separation of these two aspects of embedded control design.Based on new stability abstractions for control systems, computational tools for automated synthesis of real-time schedulers enforcing control, timing, scheduling and power consumption requirements are being built. The resulting schedulers satisfy the desired specifications by construction thus providing formal guarantees of operation and performance. The results of this project are being evaluated by implementing stabilizing feedback control laws on MICA motes for two familiar benchmark problems in control engineering: the double inverted pendulum, and the ball and beam.This integration between control and real-time scheduling allows practicing engineers to fully exploit the limits of existing embedded technology and results in cost reductions for the industry relying on embedded hardware. A particularly relevant example is the automotive industry where a small reduction in the cost of embedded hardware multiplied by the large number of produced units results in a considerable reduction in production costs.

网络化嵌入式系统的控制提出了具有挑战性的新问题，质疑系统和控制理论中的标准假设。控制设计传统上受益于一个有用的抽象，使分离的连续数学模型的控制系统和反馈法的硬件/软件和实时实现细节，如传感器量化，采样率，实时调度等控制回路中实现的高度工程化的专用硬件系统的普遍假设，可以不再。网络化嵌入式系统的资源有限，大大降低了控制质量。在本项目的背景下，正在开发用于集成控制设计与实时调度的形式化方法，以克服嵌入式控制设计的这两个方面的分离所带来的一些限制。基于控制系统的新稳定性抽象，用于自动综合实时调度器执行控制、定时、正在建立调度和功耗要求。由此产生的散热器通过构造满足所需的规格，从而提供操作和性能的正式保证。该项目的结果正在评估通过实施稳定的反馈控制律云母微粒在控制工程中的两个常见的基准问题：双倒立摆，和球和beam.This控制和实时调度之间的集成允许执业工程师充分利用现有的嵌入式技术的限制，并在依赖于嵌入式硬件的行业成本降低。一个特别相关的例子是汽车行业，其中嵌入式硬件成本的小幅降低乘以大量生产的单元导致生产成本的大幅降低。