Ptolemy Project Vision Edward A. Lee Robert S. Pepper Distinguished Professor Eighth Biennial Ptolemy Miniconference April 16, 2009 Berkeley, CA, USA.

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Presentation transcript:

Ptolemy Project Vision Edward A. Lee Robert S. Pepper Distinguished Professor Eighth Biennial Ptolemy Miniconference April 16, 2009 Berkeley, CA, USA

Lee, Berkeley 2 Cyber-Physical Systems (CPS) Where it is going CPS: Orchestrating networked computational resources with physical systems.

Lee, Berkeley 3 Cyber Physical Systems: Computational + Physical CPS is Multidisciplinary Computer Science: Carefully abstracts the physical world System Theory: Deals directly with physical quantities

Lee, Berkeley 4 Ptolemy Project Research Foundations: Timed computational semantics. Bottom up: Embedded processors (PRET). Top down: Distributed real-time systems (PTIDES). Holistic: Scalable model-based design.

Lee, Berkeley 5 Object Oriented vs. Actor Oriented Software Components The alternative: Actor oriented: actor name data (state) ports Input data parameters Output data What flows through an object is evolving data class name data methods call return What flows through an object is sequential control The established: Object-oriented: Things happen to objects Actors make things happen

Lee, Berkeley 6 Timed Software Semantics s  S N Causal systems operating on signals are usually naturally (Scott) continuous. concurrent actor- oriented models abstraction fixed-point semantics super-dense time

Lee, Berkeley 7 Results Papers: [1]Lee and Matsikoudis, "The Semantics of Dataflow with Firing," in From Semantics to Computer Science: Essays in memory of Gilles Kahn, Cambridge 2009.The Semantics of Dataflow with Firing [2]Ye Zhou and Edward A. Lee. "Causality Interfaces for Actor Networks," ACM Trans. on Embedded Computing Systems, April [3]Liu and Lee, "CPO Semantics of Timed Interactive Actor Networks,” Theoretical Computer Science 409 (1): pp , [4]Lee, " Application of Partial Orders to Timed Concurrent Systems," article in Partial order techniques for the analysis and synthesis of hybrid and embedded systems, in CDC 07. [5]Lee and Zheng, "Leveraging Synchronous Language Principles for Heterogeneous Modeling and Design of Embedded Systems," EMSOFT ’07. [6]Liu, Matsikoudis, and Lee. "Modeling Timed Concurrent Systems," CONCUR ’06. [7]Cataldo, Lee, Liu, Matsikoudis and Zheng "A Constructive Fixed-Point Theorem and the Feedback Semantics of Timed Systems," WODES'06 etc.... Software: Ptolemy II realizes a number of timed concurrent models of computation (MoCs) with well- founded rigorous semantics. Ph.D. Theses: [1]Haiyang Zheng, "Operational Semantics of Hybrid Systems," May 18, [2]Ye Zhou, "Interface Theories for Causality Analysis in Actor Networks," May 15, [3]Xiaojun Liu, "Semantic Foundation of the Tagged Signal Model," December 20, 2005.

Lee, Berkeley 8 Ptolemy II: Our Laboratory for Actor-Oriented Models of Computation Director from an extensible library defines component interaction semantics or “model of computation.” Extensile, behaviorally- polymorphic component library. Visual editor supporting an abstract syntax Type system for transported data Concurrency management supporting dynamic model structure.

Lee, Berkeley 9 Ptolemy Project Research Foundations: Timed computational semantics. Bottom up: Embedded processors (PRET). Top down: Distributed real-time systems (PTIDES). Holistic: Scalable model-based design.

Lee, Berkeley 10 Bottom Up: Embedded Processors Precision-Timed (PRET) Machines Make temporal behavior as important as logical function. Timing precision with performance: Challenges: Memory hierarchy (scratchpads?) Deep pipelines (interleaving?) ISAs with timing (deadline instructions?) Multicore (dedicated I/O & real-time processors?) Predictable memory management (Metronome?) Languages with timing (discrete events? Giotto?) Predictable concurrency (synchronous languages?) Composable timed components (actor-oriented?) Precision networks (TTA? Time synchronization?) See S. Edwards and E. A. Lee, "The Case for the Precision Timed (PRET) Machine," in the Wild and Crazy Ideas Track of the Design Automation Conference (DAC), June 2007.

Lee, Berkeley 11 PRET Project (Berkeley, Columbia) Funding from NSF, Toyota, National Instruments, plus cooperation with Xilinx, Synfora, and Tidorum Staffing: Edward A. Lee (UCB PI) Stephen Edwards (Columbia co-PI) Jan Rabaey (UCB co-PI) John Wawrzynek (UCB co-PI) Christopher Brooks (Technical staff) Hiren Patel (postdoc) Hugo Andrade (NI VIF) Shanna-Shaye Forbes (UCB grad student) Sunjun Kim (Columbia grad student) Ben Lickly (UCB grad student) Isaac Liu (UCB grad student)

Lee, Berkeley 12 Ptolemy Project Research Foundations: Timed computational semantics. Bottom up: Embedded processors (PRET). Top down: Distributed real-time systems (PTIDES). Holistic: Scalable model-based design.

Lee, Berkeley 13 PTIDES: Programming Temporally Integrated Distributed Embedded Systems Distributed execution under DE semantics, with “model time” and “real time” bound at sensors and actuators. Input time stamps are ≥ real time Output time stamps are ≤ real time

Lee, Berkeley 14 PTIDES Project Funding from NSF, Agilent, IBM, Toyota, and the State of California MICRO program, in cooperation with the University of Salzburg, Austria. Staffing: Edward A. Lee (UCB PI) Christopher Brooks (Technical staff) Patricia Derler (Univ. Salzburg grad student) Slobodan Matic (postdoc) Thomas Feng (UCB grad student) Ben Lickly (UCB grad student) Stefan Resmerita (Univ. Salzburg technical staff) Yang Zhao (UCB grad student, Google technical staff) Jia Zou (UCB grad student)

Lee, Berkeley 15 Ptolemy Project Research Foundations: Timed computational semantics. Bottom up: Embedded processors (PRET). Top down: Distributed real-time systems (PTIDES). Holistic: Scalable model-based design.

Lee, Berkeley 16 Hierarchical Multimodeling Hierarchical compositions of models of computation. Maintaining temporal semantics across MoCs is a main challenge.

Lee, Berkeley 17 Multi-View Modeling: Distinct and separate models of the same system are constructed to model different aspects of the system. Functional model in Statecharts Functional model in Ptolemy II Deployment model in Ptolemy II Verification model in SMV Reliability model in Excel This example is a test case for a collaborative project with Lockheed-Martin

Lee, Berkeley 18 “Model Engineering” Project Funding from AFRL, Army Research Office, Air Force Research Office, Bosch, Lockheed-Martin, and Thales. Staffing: Edward A. Lee (UCB PI) Christopher Brooks (Technical staff) Chihong (Partrick) Cheng (TU Munich) Thomas Huining Feng (UCB grad student) Jackie Mankit Leung (UCB grad student) Eleftherios Matisikoudis (UCB grad student) Stavros Tripakis (Visiting Research Scientist)

Lee, Berkeley 19 Addressing the Design Challenges for Cyber Physical Systems Foundations: Timed computational semantics. Abstract semantics on super-dense time Bottom up: Make timing repeatable. Precision-timed (PRET) machines Top down: Timed, concurrent components. Distributed real-time discrete-events (PTIDES) Holistic: Model engineering. Mulimodeling, ontologies, property system, …