Integrating Viewpoints in the Development of CPS

Transcription

1 Integrating Viewpoints in the Development of CS Martin Törngren rofessor in Embedded Control Systems, ICES director Division of Mechatronics, KTH Royal Institute of Technology Joint work with Matthias Biehl, Jad Elkhoury, Frederic Loiret, Magnus ersson and Ahsan Qamar, KTH, and Stavros Tripakis, atricia Derler and Edward Lee, UC Berkeley

2 Research areas in the group ECS Group: Autonomy System Architecture Design and Optimization Innovative roduct Concepts Model Based Design Multiview Modeling Tool Integration Safety CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 2

3 CS like demo Manifested by, and courtesy of, the Berkeley juggling club CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 3

4 Different viewpoints and concerns CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 4

5 Sensing, estimation and control Vehicle dynamics roject Management Viewpoints and relationships Software ECU/electronics Architecture Networking CAN database Integration tests Safety Quality Maintenance, After-market roduction/ parameterization Diagnostics, Support tools Mechanical components CAD, DM ower ropulsion Thermal CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 5

6 Main messages CS come with growing functionality, extent and concerns More advanced engineering environments: viewpoints and relations between them We need to engineer and deal with viewpoint systems Viewpoint contracts Dependency modeling Systematic and efficient tool integration Beyond traditional stakeholders CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 6

7 Outline CS Characterization Engineering Environments roblem analysis Multiview modeling Integrating viewpoints Contracts, Dependency modeling, Tool integration Discussion Wrap-up CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 7

8 CS characteristics Stringent requirements Heterogeneity Extent and scale (compared to ES) Autonomy Non-technical challenges Socio-technical systems CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 8

9 Mechanics vs. Mechatronics; adding flexible information processing and flow Module 1 Computer HW & SW Drives Control Actuators Sensors Mechanics Environment Computer HW & SW Drives Control Actuators Sensors Mechanics Module n Logic and information flow Laws of physics CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 9

10 urely mechanical vehicle Sus/C Brake Steer Wheel Diff Trans Clutch Eng Driver Susp Brake Steer X X X X X X Wheel X X X X Diff X X Trans X X Clutch X X Eng X Driver X X X X Mechanical relations CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 10

11 Fully programmable vehicle! Sus/C Brake Steer Wheel Diff Trans Clutch Eng Driver Susp X+ X+ Brake X+ X+ Steer X+ X+ Wheel X X X+ X Diff X+ X+ Trans X+ X+ Clutch X+ X+ Eng X+ Driver X+ X+ X+ rogrammable relations X ossible change CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 11

12 Technology evolution Social media Internet Telecom Wired Wireless Computation Analog and digital Google Facebook WWW Mobile internet GSM GS ihone Distributed control CAN Ethernet WLAN Bluetooth WirelessHART Zigbee RFID NFC Microprocessor Multicore MEMS Motes CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 12

13 Autonomous vehicles E-Corner, Siemens Daimler-Chrysler latooning competition (Scania and KTH) Local, global communication: - V2V, V2I, Internet, positioning New Opportunities and Challenges! Beyond traditional stakeholders Scaling problems Components Devices Subsystems Systems SoS - Society CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 13

14 eople rocesses - Technology Organization - Competence - Responsibilities - Communication rocess - Analysis - Modelling/tool use - Synthesis/decisions Social Integration Technology: roducts & Tools - Function - Implementation Model Based Integration Architecture Integration CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 14

15 Complexity Here taken in relation to human abilities to deal with different aspects and their relations Requirements, components and networks Behaviors and interactions Digital state space Hybrid systems roduct variants Life-cycle usages otential faults, errors and failures CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 15

16 How do we manage complexity when developing technical systems? Divide and conquer Applied to products and systems (supporting artefacts, organizations) Abstraction Modeling, at the right level of abstraction using the right formalism Ensuring integration / composability Interfaces, interrelationsships, assumptions By use of automation ( tools ) CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 16

17 Abstraction Modeling and simulation Multiple abstraction layers; Multiple views latform abstractions: AI s, services Controller latform lant Model validation Function design and analysis Tuning Controller Rapid Control rototyping Integration testing lant RTsimulation Controller Code generation; platform integration Unit testing CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 17

18 Aspects of product & support tools Scripts Traces Versions Configurations Application functionalities models code + Other functions! + Other requirements! scripts configs Mapping Architecture Reports Often forgotten: - Model management - Support models and tools Test cases Additional models Analysis results Change requests Concepts Dev. rod.. Oper/Maint. Technical engineering Information management Implemented by Integration scenarios Mapping Architecture (Tools & integration technology) CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 18

19 Outline CS Characterization Engineering Environments roblem analysis Multiview modeling Integrating viewpoints Contracts, Dependency modeling, Tool integration Discussion Wrap-up CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 19

20 Viewpoints and views Viewpoints The view is what you see - Stakeholder concerns Real-world/ - Concepts, theories, System frameworks, languages The viewpoint is where you look from Abstractions Models/Artefacts Views roduct properties Models Tools using models and providing services Terminology partly from the ISO/IEEE standard: Systems and software engineering Architecture description CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 20

21 One example multi-view reference model: 4+1 view model CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 21

22 Source: - ISO/IEEE standard CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 22

23 CAN Multiple views - Example Allocation Rain Sensor Driver Dashboard UI Driver Wiper Control SW Motor Driver - F ECU - DB ECU - C ECU - DB ECU Software structure Hardware structure Rain Sensor Driver Dashboard UI Driver Wiper Control SW Motor Driver Buttons Central ECU Dashboard ECU Rain sensor Front ECU Wiper Motor Software mode description On On Network diagram Of f M< 70 Auto Off M> 90 Front Central Dashboard Example models by Magnus ersson CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 23

24 Multiple views - Example Robot CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 24

25 Controller and Embedded system gaps Controller lant Little emphasis on effects due to embedded systems realization Delays, quantization, partial failures, resource sharing?? Embedded system platform SW HW Little emphasis on control specific requirements Assumed behavior, error handling Concepts, theory and tools mismatches - e.g. Discrete-time control theory vs. Fixed priority scheduling /rate monotonic CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 25

26 Tool Integration Challenge Reqs Reqs Reqs Lifecycle Lifecycle Lifecycle Lifecycle Requirements Engineering Lifecycle Engineering Design Engineering V&V Engineering Design Design Design Design Test Test Test Test Test Analysis Analysis Analysis Analysis Multiple Concerns & Domains Stakeholders Isolated Tools & Models rocesses and Tasks Integration Aspects Dependencies Integration Aspects Data Control Lack of methodologies for tool integration Lack of mature standards resentation latform rocess CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 26

27 ifest Desired tool integration capabilities A uniform approach to tool integration Dealing with complexity Tailorability, Evolvability and Scalability Lower threshhold to integrate tools Ability to define information and functionalities Access to information and functionalities of tools Manage information Data, control, presentation, process Support relevant standards CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 27

28 Outline CS Characterization Engineering Environments roblem analysis Multiview modeling Integrating viewpoints Contracts, Dependency modeling, Tool integration Discussion Wrap-up CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 28

29 Towards integrating viewpoints CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 29

30 Techniques Viewpoint contracts people level Establishing shared concepts, assumptions and constraints Dependency models Explicitly captures dependencies among properties of models Tool integration models Explicitly describes tools and their interactions CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 30

31 Viewpoint contracts Bridging conceptual and communication gaps Capturing Common concepts shared among two or more viewpoints Minimalistic Assumptions Constraints Currently dealt with informally CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 31

32 Example: Control-Embedded SW contracts Courtesy of. Derler, Design contracts presentation at CS conference 2013 CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 32

33 Control vs. Embedded software Courtesy of. Derler, Design contracts presentation at CS conference 2013 CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 33

34 Example: Control-Embedded SW contracts Courtesy of. Derler, Design contracts presentation at CS conference 2013 CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 34

35 Example contracts - Control- Embedded SW with timing constraints Courtesy of. Derler, Design contracts presentation at CS conference 2013 CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 35

36 Example contracts continued; Control-Embedded SW with timing constraints Agreement and obligations regarding functionalities and timing properties SW engineers: execute functions; meet timing requirements Control engineers: ensure correct closed-loop behavior Example contracts: ZET ~ the synchronous approach LET ~ the LC / Giotto approach BET ~ interpretation of FS DET ~ deadline monotonic scheduling TOL ~ Tolerances on time variations Basis for discussions and agreements Baseline for implementation Support for modeling and simulation CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 36

37 Support for Contract based design- methodology outline CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 37

38 Two Degree-Of-Freedom Robot Control the position of the robot with accuracy (CA) and avoid obstacle within the specified workspace (WS) Two design domains Mechanical design Control design Hw/Sw design Design variables L A, L B W A, W B Ɵ A, Ɵ B ϱ S A, S B M A, M B Origin O E CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 38

39 Dependency Graph Dependency model example CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 39

40 Snapshot of the dependency graph for Mechanical, Control and Hw/Sw design of the robot CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 40

41 CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 41

42 Analysis made possible Change management Consistency checking CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 42

43 Development of Mechatronic products Engineering Disciplines Control Engineer Requirements Engineer Hardware-Developers Verification Mechanical Engineer rocess rototyping Engineer System Architect Support Software-Developers CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 43

44 Challenges of Tool Integration Tools provide limited native integration island solutions difficult to connect tools to transfer data, to create traces, to create scripts involving multiple tools Hard to push workable tool integration standards Integration Concerns Semantic Structural Technical CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 44

45 Adapter Resources Tool Adapter Resources Tool Goal: Tool Chains Instantiation Authentication Tool Transformation Engine rocess Management Tool Traceability tool Tool Adapter Resources Tool Adapter Resources Basic services Data Data Tool Adapter Resources Lifecycle Data Tool Adapter Resources Change Impact Analysis ifest Integration Over Internet Framework Data Configuration Management UML tool Tool Adapter Resources Data R&A Data Data Data D&I V&V Data Tool Adapter Resources Tool Adapter Resources Tool Adapter Resources Tool Adapter Resources Tool Adapter Resources Tool Adapter Resources Tool Adapter Resources Tool Adapter Resources Tool Adapter Resources DOORS IRQA Traceability Non ifest Compliant tool Repository Simulink An Integration latform HW/SW co-design tool Test tool Analysis CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 45

46 Challenge: Lack of Methodologies and Tools for Building Tool Chains? Limited development support Mostly built manually Low levels of reuse High effort to build Lack of support tools ATL Java BEL Stakeholders WSDL OSLC CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 46

47 Approach Stakeholders Development Support: Design/Refinement Analysis Synthesis Modeling Language Tool Chain Impl. CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 47

48 Tool Integration Language (TIL) Concrete Syntax ToolAdapter DataChannel User TraceChannel Repository ControlChannel ToolChain Sequencer CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 48

49 Case Study: A TIL Model for an industrial embedded systems tool chain 49 CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 49

50 Status Several papers, reports, case studies and hd thesis on the presented viewpoint integration techniques Dependency modeling and Tool integration implemented as Domain specific modeling languages Viewpoint contracts so far applied to Control- Embedded systems and Control-Mechanical design 50 CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 50

51 Discussion Viewpoint integration techniques can be applied in different ways Informally / Formally Individually / Together Top-down / Bottom-up Complements other techniques such as Co-simulation Component contracts Integration specific views (e.g. ADLs, function models) CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 51

52 Outline CS Characterization Engineering Environments roblem analysis Multiview modeling Integrating viewpoints Contracts, Dependency modeling, Tool integration Discussion Wrap-up CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 52

53 Sensing, estimation and control Vehicle dynamics roject Management Viewpoints and relationships Software ECU/electronics Architecture Networking CAN database Integration tests Safety Quality Maintenance, After-market roduction/ parameterization Diagnostics, Support tools Mechanical components CAD, DM ower ropulsion Thermal CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 53

54 Summary and directions Trends: Functional growth, connectivity, scale, complexity Engineering of increasing no. of viewpoints and dependencies Make viewpoint, dependencies and tool interactions explicit Dealing with and designing dependencies Design contracts towards viewpoint contracts Dependency modeling Systematic tool integration Contact CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 54

55 References Fredrik Asplund, Lic. Thesis, Mechatronics, KTH (Oct. 2012): Tool Integration and Safety: A Foundation for Analyzing the Impact of Tool Integration on Non-functional roperties. Matthias Biehl, hd thesis, Mechatronics KTH (Jan. 2013): A Modeling Language for the Description and Development of Tool Chains for Embedded Systems. Ahsan Qamar, hd thesis, Mechatronics, KTH (March, 2013): Model and Dependency Management in Mechatronic Design. Magnus ersson, hd thesis, Mechatronics, KTH (June, 2013): A formalized approach to multi-view components for embedded systems. Martin Törngren, Matthias Biehl, Ahsan Qamar, Jad Elkhoury, and Frederic Loiret. Multiview Modeling and Integration for Mechatronics Engineering. roc. of the ACCM-Workshop on Mechatronic Design, Linz, Austria, November, atricia Derler, Edward Lee, Martin Törngren, Stavros Tripakis. Cyber-hysical System Design Contracts, ICCS '13: ACM/IEEE 4th International Conference on Cyber-hysical Systems, CS summerschool, July 9th, 2013, Grenoble Integrating Viewpoints by Martin Törngren 55