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Homepage of the Seminar Cyber Physical Systems and Embedded Systems in WS 2015/2016


Embedded and Cyber-Physical Systems have replaced traditionally human-operated systems. They have appeared in many applications, such as avionic control systems, automotive electronics, industrial automation, and robotics. Designing dependable embedded and cyber-physical systems efficiently and effectively has been an important subject with high impact on daily lifes and human society.

All talks and meetings will be in English.

Presentation schedule: (Feb. 11-12, 2016)

8:30 - 9:30  CPS-Models (Malte Michel) 8:30 - 9:30  Wireless Control (Andreas Beckmann)
9:30 - 10:30  Model-Based Design (Tristan Schaefer)  9:30 - 10:30  Real-Time Control (Niklas Ueter)
10:30 - 10:45  Coffee Break
10:45 - 11:45  Dynamic Systems (Lea Schoenberger)  10:45-11:45  Time Predictable Embedded Architecture (Christian Matuschek) 
11:45 - 12:45  Smart Energy (Rui Kun Chang) 11:45-12:45  Worst Case Execution Time Analysis (Wei Han Pang)

12:45 - 14:00


14:00 - 15:00

 Medical Applications (Nils Wortmann) 14:00-15:00  Computation Offloading and Self-Suspension (Chia-Yun Chan)

15:00-16:00  Embedded Storage (David Scheidt)



No registration previous to the first date (29.10.2015) is needed. Registration to the seminar is done by choosing one of the topics presented at that date.


*** 29,10, 2015: Introductions of the seminar and topics (14:00, Raum E18 in OH 16)

     slides of the seminar and introduction to CPS and Embedded Systems
*** 02-06,11,2015: Choose a topic (“select 3 topics” with preferences!!)
*** 06,11, 2015: Reservation due via TA (Kuan-Hsun, Raum 102 in OH16) / Email here
*** 09-13,11, 2015: A mail will be sent to you and the assignment will be announced in the seminar website.
*** 13,01, 2016: Reports due (turn in to the Secretary before 12:00 (noon))
*** 27,01, 2016: Slides draft due (send the slides to Prof. Chen before 12:00 (noon))
*** 11-12,02, 2016: Presentation (Block seminar for the whole day, E18 in OH16)

Materials: (Recommended, but not compulsory to use them)
a. Templates for the report: MS Office templateLaTEX template, OpenOffice template
b. Templates for the slides: MS Office template (download from service portal), LaTEX template, OpenOffice template

c. An example slide: RTCSA 2013 by Mr. Pagani


There will be several categoried options, offered by Prof. Chen. You can also select your own options of literatures, under the approval by Prof. Chen


Real-Time Control (Niklas Ueter)

  • Daniele Fontanelli, Luigi Palopoli, Luca Abeni: The Continuous Stream Model of Computation for Real-Time Control. in RTSS 2013: 150-159

  • Amir Aminifar, Petru Eles, Zebo Peng, Anton Cervin: Control-quality driven design of cyber-physical systems with robustness guarantees. DATE 2013: 1093-1098 

Automotive Control  

  • Alejandro Masrur, Dip Goswami, Samarjit Chakraborty, Jian-Jia Chen, Anuradha Annaswamy, Ansuman Banerjee: Timing analysis of cyber-physical applications for hybrid communication protocols. DATE 2012: 1233-1238

  • Pratyush Kumar, Dip Goswami, Samarjit Chakraborty, Anuradha Annaswamy, Kai Lampka, Lothar Thiele: A hybrid approach to cyber-physical systems verification. DAC 2012: 688-696

  • (+) Jonas Rox, Rolf Ernst, Paolo Giusto: Using timing analysis for the design of future switched based Ethernet automotive networks. DATE 2012: 57-62

Medical Applications (Nils Wortmann)

  • Miroslav Pajic, Zhihao Jiang, Insup Lee, Oleg Sokolsky, Rahul Mangharam: From Verification to Implementation: A Model Translation Tool and a Pacemaker Case Study. RTAS 2012: 173-184

  • Po-Liang Wu, Woochul Kang, Abdullah Al-Nayeem, Lui Sha, Richard B. Berlin Jr., Julian M. Goldman: A low complexity coordination architecture for networked supervisory medical systems. ICCPS 2013: 89-98

 Fault Tolerance

  • Junkil Park, Radoslav Ivanov, James Weimer, Miroslav Pajic, Insup Lee: Sensor attack detection in the presence of transient faults. ICCPS 2015: 1-10

  • Björn Döbel, Hermann Härtig: Can we put concurrency back into redundant multithreading? EMSOFT 2014: 19:1-19:10

  • (+)Muhammad Shafique, Philip Axer, Christoph Borchert, Jian-Jia Chen, Kuan-Hsun Chen, Björn Döbel, Rolf Ernst, Hermann Härtig, Andreas Heinig, Rüdiger Kapitza, Florian Kriebel, Daniel Lohmann, Peter Marwedel, Semeen Rehman, Florian Schmoll, Olaf Spinczyk: Multi-layer software reliability for unreliable hardware. it - Information Technology 57(3): 170-180 (2015)

Smart Energy (Rui Kun Chang)

  • Mischa Schmidt, Alberto Venturi, Anett Schülke, Roman Kurpatov: The energy efficiency problematics in sports facilities: identifying savings in daily grass heating operation. ICCPS 2015: 189-197

  • Fanxin Kong, Chuansheng Dong, Xue Liu, Haibo Zeng: Blowing hard is not all we want: Quantity vs quality of wind power in the smart grid. INFOCOM 2014: 2813-2821

Wireless Control (Andreas Beckmann)

  • Bo Li, Zhuoxiong Sun, Kirill Mechitov, Gregory Hackmann, Chenyang Lu, Shirley Dyke, Gul Agha, Billie F. Spencer: Realistic case studies of wireless structural control. ICCPS 2013: 179-188

  • Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam: Closing the loop: a simple distributed method for control over wireless networks. IPSN 2012: 25-36

Computation Offloading and Self-Suspension (Chia-Yun Chan) (fundamental real-time scheduling knowledge is assumed)

  • Yuchuan Liu, Cong Liu, Xia Zhang, Wei Gao, Liang He, Yu Gu: A Computation Offloading Framework for Soft Real-Time Embedded Systems. ECRTS 2015: 129-138

  • Wen-Hung Huang, Jian-Jia Chen, Husheng Zhou, Cong Liu: PASS: priority assignment of real-time tasks with dynamic suspending behavior under fixed-priority scheduling. DAC 2015: 154:1-154:6

  • Konstantinos Bletsas, Neil Audsley, Wen-Hung Huang, Jian-Jia Chen, Geoffrey Nelissen, “Errata for three papers (2004-05) on fixed-priority scheduling with self-suspensions”, CISTER-TR-150713, 2015.

Dynamic Systems (Lea Schoenberger)

  • Lothar Thiele and Pratyush Kumar, “Can Real-Time Systems be Chaotic?”, in EMSOFT 2015

  • Pratyush Kumar, Lothar Thiele: Quantifying the Effect of Rare Timing Events with Settling-Time and Overshoot. RTSS 2012: 149-160

Mode Change I (Lili Xu) (fundamental real-time scheduling knowledge is assumed)

  • Robert I. Davis, Timo Feld, Victor Pollex, and Frank Slomka, “Schedulability Tests for Tasks with Variable Rate-Dependent Behaviour under Fixed Priority Scheduling”. In Proceedings Real-Time and embedded technology and Applications Symposium (RTAS) 2014.

  • Martin Stigge, Pontus Ekberg, Nan Guan, Wang Yi: The Digraph Real-Time Task Model. IEEE Real-Time and Embedded Technology and Applications Symposium 2011: 71-80

Mode Change II (Shabnam Tabatabaian) (fundamental real-time scheduling knowledge is assumed)

  • Huang Wen-Hung and Jian-Jia Chen.Techniques for Schedulability Analysis in Mode Change Systems under Fixed-Priority Scheduling.In IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, 2015

  • Shengyan Hong, Xiaobo Sharon Hu, Tao Gong, Song Han:On-Line Data Link Layer Scheduling in Wireless Networked Control Systems. ECRTS 2015: 57-66

Sensors in Embedded Systems (Joern Esdohr)

  • David Hasenfratz, Olga Saukh, Lothar Thiele: Model-Driven Accuracy Bounds for Noisy Sensor Readings. DCOSS 2013: 165-174

  • Hossein Mamaghanian, Nadia Khaled, David Atienza, Pierre Vandergheynst: Compressed Sensing for Real-Time Energy-Efficient ECG Compression on Wireless Body Sensor Nodes. IEEE Trans. Biomed. Engineering 58(9): 2456-2466 (2011)

Worst-Case Execution Analysis (Wei Han Pang)

  • Sebastian Hahn, Jan Reineke, Reinhard Wilhelm: Towards compositionality in execution time analysis: definition and challenges. SIGBED Review 12(1): 28-36 (2015)

  • Sebastian Hahn, Jan Reineke, Reinhard Wilhelm: Toward Compact Abstractions for Processor Pipelines. Correct System Design 2015: 205-220

  • [+] Philip Axer, Rolf Ernst, Heiko Falk, Alain Girault, Daniel Grund, Nan Guan, Bengt Jonsson, Peter Marwedel, Jan Reineke, Christine Rochange, Maurice Sebastian, Reinhard von Hanxleden, Reinhard Wilhelm, Wang Yi: Building timing predictable embedded systems. ACM Trans. Embedded Comput. Syst. 13(4): 82 (2014)

Human in Loop

  • Gunar Schirner, Deniz Erdogmus, Kaushik Chowdhury, Taskin Padir: The Future of Human-in-the-Loop Cyber-Physical Systems. IEEE Computer 46(1): 36-45 (2013)

  • Dong Wang, Md. Tanvir Al Amin, Shen Li, Tarek F. Abdelzaher, Lance M. Kaplan, Siyu Gu, Chenji Pan, Hengchang Liu, Charu C. Aggarwal, Raghu K. Ganti, Xinlei Wang, Prasant Mohapatra, Boleslaw K. Szymanski, Hieu Khac Le: Using humans as sensors: an estimation-theoretic perspective. IPSN 2014: 35-46

  • Dong Wang, Tarek F. Abdelzaher, Lance M. Kaplan, Raghu K. Ganti, Shaohan Hu, Hengchang Liu: Exploitation of Physical Constraints for Reliable Social Sensing. RTSS 2013: 212-223

Embedded Storage (David Scheidt)

  • Yu-Ming Chang, Yuan-Hao Chang, Jian-Jia Chen, Tei-Wei Kuo, Hsiang-Pang Li, Hang-Ting Lue: On Trading Wear-leveling with Heal-leveling. DAC 2014: 83:1-83:6

  • Ren-Shuo Liu, De-Yu Shen, Chia-Lin Yang, Shun-Chih Yu, Cheng-Yuan Michael Wang: NVM duet: unified working memory and persistent store architecture. ASPLOS 2014: 455-470

Timing Predictable Embedded Architecture (Christian Matuschek)

  • Reinhard Wilhelm, Daniel Grund, Jan Reineke, Marc Schlickling, Markus Pister, Christian Ferdinand: Memory Hierarchies, Pipelines, and Buses for Future Architectures in Time-Critical Embedded Systems. IEEE Trans. on CAD of Integrated Circuits and Systems 28(7): 966-978 (2009)

  • Andreas Abel, Florian Benz, Johannes Doerfert, Barbara Dörr, Sebastian Hahn, Florian Haupenthal, Michael Jacobs, Amir H. Moin, Jan Reineke, Bernhard Schommer, Reinhard Wilhelm: Impact of Resource Sharing on Performance and Performance Prediction: A Survey. CONCUR 2013: 25-43

CPS Models (Malte Michel) (only one paper)

  • Edward A. Lee: Constructive Models of Discrete and Continuous Physical Phenomena. IEEE Access 2: 797-821 (2014)

Model-Based Design (Tristan Schaefer)

  • Peng Deng, Fabio Cremona, Qi Zhu, Marco Di Natale, Haibo Zeng: A model-based synthesis flow for automotive CPS. ICCPS 2015: 198-207

  • Matteo Morelli, Marco Di Natale: Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach. SIMPAR 2014: 49-61

  • (+) Dirk Ziegenbein, Arne Hamann: Timing-aware control software design for automotive systems. DAC 2015: 56:1-56:6