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Homepage for the Course "Cyber-Physical System Fundamentals (CPSF)" in SS 2018


Announcements and updates:

  • The exam correction is finished. The review will take place on Friday, 12.10.2018, at 10-11 AM in room OH16/E18. 



Course title:

Cyber-Physical System Fundamentals (CPSF)


Overview:

The aim of this course is to provide an overview over fundamental techniques of designing embedded systems (information processing systems embedded into products such as telecommunication systems, vehicles or robots). At the end of the course, the student will be able to put the different areas of embedded systems into perspective and to understand more specialized topics, such as timing predictability, modeling, scheduling, or performance evaluation.


Organization:


Time Room Lecturer
SessionsWednesdays, 12:15-13:45E.003, Otto-Hahn-Str. 12Anas Toma
Fridays, 12:15-13:45
LabsMondays, 12:15-13:45CILAB, U08
Otto-Hahn-Str. 16 
Lea Schönberger
Mondays, 14:15-15:45
Wednesdays, 10:15-11:45


  • Start of course: 16.05.2018
  • Semester: Summer semester 2018
  • Language: English
  • Teaching method: Due the existence of recorded video lectures on youtube, traditional lectures do not make any sense. The course will follow an innovative approach called "flipped classroom" (see wikipedia definition for this term) approach. Students are supposed to watch the videos at home. In the class, we will jointly work together with the material covered in the videos. In order to make this scheme work, students should attend classroom meetings. Student should not assume that they could watch the videos in the last week before the finals! There are just too many. Flipped classrooms are also used with massive open online courses (MOOCs).
  • Prerequisites: Programming skills must be present (preferably in C), finite state machines
  • Assistant: Lea Schönberger
  • Credits: 6 CP (requires successfull participation in labs and finals)
  • Reference books: Peter Marwedel, Embedded System Design: Embedded Systems Foundations of Cyber-Physical Systems, 2nd ed., Springer, 2010
  • Target audience: Students of "automation and robotics", ERASMUS students with limited German language skills, guest students of Ruhr campus online program, students of the international summer school program of TU Dortmund.
  • Incompatibilities: this course cannot be selected by students for which the German course "Eingebettete Systeme" is an elective, i.e. students of the "Informatik" and "Angewandte Informatik" programs of TU Dortmund.


Written exams: 

  • 07.08.2018, 12:00-13:30, Mathematics building E29 

    Please consider the following information regarding the written exam:

    No assistive devices or other resources (no pocket calculators, laptops, books, notes etc.) are allowed.
    It is necessary to bring your student ID card and an official identification document (driver's license, passport or identity card).

  • 25.09.2018, 10:30-12:00, EF50 HS3

    Please consider the following information regarding the written exam:

    No assistive devices or other resources (no pocket calculators, laptops, books, notes etc.) are allowed.
    It is necessary to bring your student ID card and an official identification document (driver's license, passport or identity card).


 This information is without liability. Please refer to the official information in the faculty scheduled examine dates.


Schedule:

Date

Content

Book Section

Videos

Slides

Simulators

Assignments

Lectures

16.05.18 Preface: Embedded and Cyber-Physical Systems (definitions), motivation Preface 01.1
es-marw-1.1.pptx
es-marw-1.1.pdf


1

Introduction: application areas, examples, educational concept 1.1, preface 01.2
1

Introduction: Common characteristics 1.2 01.3
1
18.05.18 Introduction: Challenges in embedded system design 1.3 02.1

es-marw-1.2.pptm
es-marw-1.2.pdf 

es-marw-2.01-moc.ppt 
es-marw-2.01-moc.pdf



2

Introduction: design flows 1.4 02.2
2

Specifications and Modeling: Requirements, models of computation 2.1-2.2 02.3
2
23.05.18 Specifications and Modeling: The oberver pattern, a case against imperative specifications (based on E. Lee) 2.1 03.1

es-marw-2.02-sc.ppt 
es-marw-2.02-sc.pdf

es-marw-2.03-fsm.ppt
es-marw-2.03-fsm.pdf



 3

Specifications and Modeling: Early design phases: text, use cases, time-distance charts, sequence charts 2.3 03.2  Time-Distance Charts - Animation  3

Specifications and Modeling: Communicating finite state machines (CFSMs): Timed automata 2.4.1 03.3
 3
25.05.18 Specifications and Modeling: State charts: implicit shared memory communication, modelling of hierarchy 2.4.2.1 04.1

 4

Specifications and Modeling: State charts timers and semantics, synchronous languages 2.4.2.2, 2.4.2.3, 2.4.3 04.2
 4
30.05.18 Specifications and Modeling: SDL: A case of message passing 2.4.4 05.1 es-marw-2.04-sdl-df.ppt
es-marw-2.04-sdl-df.pdf


 5

Specifications and Modeling: dataflow: scope, Kahn process networks (KPN) 2.5.1-2.5.2 05.2  Animation  5

Specifications and Modeling: dataflow: synchronous (or "static") data flow, SDF, Simulink, RTW, Labview 2.5.3 05.3
 5
01.06.18 Specifications and Modeling: Petri nets: Introduction 2.6.1 06.1 es-marw-2.05-petri.ppt
es-marw-2.05-petri.pdf  


6

Specifications and Modeling: Petri nets: condition/event nets  2.6.2  06.2
 6

Specifications and Modeling: Petri nets: place transition nets 2.6.3 06.3
 6

Specifications and Modeling: Petri nets: predicate/transition nets, evaluation 2.6.4, 2.6.5 06.4
 6

06.06.18

(Emil-Figge-Straße 50, room 2.109)

Specifications and Modeling: Discrete Event Modelling, VHDL 2.7.1.1-2.7.1.4 07.1 es-marw-2.06-discrete-event.ppt
es-marw-2.06-discrete-event.pdf  


 7

Specifications and Modeling: Discrete Event Modelling, IEEE 1164 2.7.1.5 07.2
7
08.06.18 Specifications and Modeling: Imperative (or von Neumann) model of computation, Comparison of models 2.8 08.1 es-marw-2.07-imperative-wrap.ppt
es-marw-2.07-imperative-wrap.pdf


 8

Specifications and Modeling: comparison of models of computation 2.10 08.2
 8

13.06.18

ES-Hardware: Sensors 3.2.1 09.1 es-marw-3.1-sensors-ad.ppt
es-marw-3.1-sensors-ad.pdf


 9

ES-Hardware: discretization of time: sample-and-hold circuits 3.2.2 09.2
9

ES-Hardware: discretization of values: A/D-converters 3.2.2 09.3
9

ES-Hardware: discretization: quantization noise, aliasing  09.4 Java program available 9
15.06.18 ES-Hardware: Processing, code-size efficiency 3.3.1, 3.3.2, 3.3.3 10.1 es-marw-3.2-processing.ppt
es-marw-3.2-processing.pdf


10

ES-Hardware: Run-time efficiency, DSP,  Multimedia processors, SIMD 3.3.3.0-3.3.3.2 10.2
10
20.06.18 ES-Hardware: very long instruction word (VLIW) machines, microcontrollers, Multiprocessor systems on a chip (MPSoCs), 3.3.3.3, 3.3.3.4, 3.3.3.5 11.1

11

ES-Hardware: Reconfigurable logic, Field programmable gate arrays (FPGAs) 3.3.4 11.2

es-marw-3.3-fpga-mem.ppt
es-marw-3.3-fpga-mem.pdf


11

ES-Hardware: Memories 3.4 11.3
11
22.06.18 ES-Hardware: Communication 3.5 12.1 es-marw-3.4-comm-da-actuator.ppt
es-marw-3.4-comm-da-actuator.pdf
Animation
12

ES-Hardware: Output: D/A-Converter  3.6.1 12.2
 12

ES-Hardware: Sampling theorem, actuators, secure hardware 3.6.2, 3.6.3, 3.7 12.3
12
27.06.18 System Software: Embedded operating systems, real-time operating systems 4.1.1, 4.1.2 13.1 es-marw-4.1-rtos.ppt
es-marw-4.1-rtos.pdf


13

System Software: Virtual machines - - -


System Software: Resource access protocols (Priority inversion and inheritance) 4.1.4 13.2 es-marw-4.1-rtos.ppt
es-marw-4.1-rtos.pdf
Animation 13

System Software: Resource access protocols (Priority ceiling, stack resource policy) - - es-marw-4.2-rtos.ppt
es-marw-4.2-rtos.pdf



29.06.18 System Software: ERIKA, hardware abstraction layers, middleware, real-time data bases 4.2, 4.3, 4.4, 4.5 14.1

14

Evaluation and Validation: Scope, multi-objective optimization, relevant objectives 5.1 14.2  

es-marw-5.1-evaluation.ppt
es-marw-5.1-evaluation.pdf



14

Evaluation and Validation: performance evaluation (early estimation & worst case execution time analysis), prerequisite: integer linear programming 5.2.1, 5.2.2

es-marw-5.1-evaluation.ppt
es-marw-5.1-evaluation.pdf

es-marw-9.1-optimizations.ppt
es-marw-9.1-optimizations.pdf



14
04.07.18No lecture (Conference)

06.07.18Exam dry run15
11.07.18 Evaluation and Validation: real-time calculus 5.2.3 15.1 es-marw-5.2-evaluation.ppt
es-marw-5.2-evaluation.pdf


16

Evaluation and Validation: Energy and power models, thermal models 5.3, 5.4 15.2
16
13.07.18 Evaluation and Validation: Risk- and dependability analysis 5.5 16.1 es-marw-5.3-evaluation.ppt
es-marw-5.3-evaluation.pdf


17

Evaluation and Validation: Simulation, rapid prototyping and emulation, formal verification (briefly) 5.6, 5.7, 5.8 16.2
17
18.07.18 Application mapping: problem definition, classification of scheduling systems 6.1, 6.2.117.1 es-marw-6.1-aperiodic.ppt
es-marw-6.1-aperiodic.pdf


18

Application mapping: Aperiodic scheduling without precedence constraints 6.2.2 17.2 Animation 18

Application mapping: Aperiodic scheduling with precedence constraints6.2.3
es-marw-6.2-hls-scheduling.ppt
es-marw-6.2-hls-scheduling.pdf

18
20.07.18Application mapping: Periodic scheduling without precendence constraints6.2.418.1es-marw-6.3-periodic.ppt
es-marw-6.3-periodic.pdf
Animation
19

Application mapping: Periodic scheduling with precendence constraints, sporadic events6.2.5, 6.2.6

19

Application mapping: Hardware/Software Partitioning6.318.2es-marw-6.4-cool.ppt
es-marw-6.4-cool.pdf

19



Lab exercises:

In the lab exercises, we will solve practical problems related to the lecture to provide you with a deeper understanding of the respective topics. The assignments must not be solved alone but in teams of 2-3 people (teams will be formed during the first exercise sessions). Please note that although we offer three different time slots for the exercises, you need to attend only one of them. Please register for your time slot of choice via the AsSESS system (registration will be open from 16.05.2018). If you have any problems with the registration, please contact us. 


Relevant information at a glance:

  • Start of the exercise sessions: 28.05.2018
  • Passing the lab exercises is mandatory to participate in the final exam.
  • To pass the lab exercises, 50% of the total points must be achieved in the first half (exercise sheets 1-3) and in the second half (exercise sheets 4-6).
  • The registration will be open from 16.05.2018 via the AsSESS system (instructions can be found here). The registration is closed. Please check the AsSESS system.
  • New assignments will be uploaded weekly.


AssignmentExercise SheetDateNotes
1exercises01_en.pdf28.-30.05.2018StateCharts
2exercises02_en.pdf04.-06.06.2018StateCharts
3exercises03_en.pdf11.-13.06.2018VHDL
4exercises04_en.pdf18.-20.06.2018Lego EV3 Robots, Tutorial: ev3_labview_tutorial.pdf
5exercises05_en.pdf25.-27.06.2018Lego EV3 Robots
6exercises06_en.pdf02.-04.07.2018Lego EV3 Robots
7
09.-11.07.2018Discussion of the exam dry run


Information for ISP students:

  • Please attend one of the exercise groups and register at your tutor.
  • To pass the lab exercises, 50% of the total points of the remaining exercise sheets (exercise sheets 3-6) must be achieved.