Overview of the Center for Hybrid and Embedded Software Systems (CHESS) Christopher Brooks Executive Director, CHESS Center for Hybrid and Embedded Software Systems UC Berkeley Based on an overview by Jonathan Sprinkle On behalf of, and with input from, the CHESS Directors: Tom Henzinger Edward A. Lee Alberto Sangiovanni-Vincentelli S. Shankar Sastry Claire J. Tomlin March 3, 2009

2 Christopher Brooks, "CHESS Overview" 2001 National Research Council Report Embedded Everywhere “Information technology (IT) is on the verge of another revolution. Driven by the increasing capabilities and ever declining costs of computing and communications devices, IT is being embedded into a growing range of physical devices linked together through networks and will become ever more pervasive as the component technologies become smaller, faster, and cheaper... These networked systems of embedded computers... have the potential to change radically the way people interact with their environment by linking together a range of devices and sensors that will allow information to be collected, shared, and processed in unprecedented ways.... The use of [these embedded computers] throughout society could well dwarf previous milestones in the information revolution.”

3 March 3, 2009Christopher Brooks, "CHESS Overview" Background on Chess Founded in year National Science Foundation Funding with Partners: University of California, Berkeley Vanderbilt (ISIS) University of Memphis Past Interactions with: DGIST General Motors Hewlett-Packard HSBC Bank Infineon Microsoft Current Industry Partners and Affiliates: Agilent Bosch RTC Lockheed-Martin National Instruments Toyota Current Government Sponsors National Science Foundation (NSF) Air Force Research Lab (AFRL) U.S. Air Force Office of Scientific Research (AFOSR) U.S. Army Research Office (ARO)

4 March 3, 2009Christopher Brooks, "CHESS Overview" Chess Leadership Board of Directors Tom Henzinger Edward A. Lee Alberto Sangiovanni-Vincentelli S. Shankar Sastry Claire J. Tomlin Executive Director Christopher Brooks Other key faculty at Berkeley Dave Auslander Ahmad Bahai Ruzena Bajcsy Ras Bodik Karl Hedrick Kurt Keutzer George Necula Koushik Sen Sanjit Seshia Masayoshi Tomizuka Pravin Varaiya This carefully constructed team blends domain experts (for example, in automotive systems, avionics, signal and image processing, and communications) with software technologists and computer scientists.

5 March 3, 2009Christopher Brooks, "CHESS Overview" Cyber-Physical Systems "A cyber-physical system (CPS) integrates computing and communication capabilities with monitoring and / or control of entities in the physical world dependably, safely, securely, efficiently and in real-time.“ - S. Shankar Sastry

6 March 3, 2009Christopher Brooks, "CHESS Overview" Cyber-Physical Systems (CPS) Activity NSF Workshop on CPS: Oct. 16 – 17, 2006, Austin CPS as part of RTSS: Dec. 3-6, 2007, Tucson Architecture and Composibility for Cyber-Physical Systems CPS Week: April 21-24, 2008: St Louis (sponsored by CHESS) Part of RTAS, IPSN and HSCCRTASIPSNHSCC and other CPS workshops...

7 Upcoming CPS Events CPS Week, San Francisco, April 13-16, 2009: 3 Conferences (RTAS/ISPN/HSCC) a CPS Poster session on Monday evening, April 13 a CPS panel on Wednesday, April 15 NSF Proposal, due on February 27, 2009: $30 million over 5 years Three CPS Themes: Foundations Methods and Tools Components, Run-time Substrates, and Systems Funding three sizes of projects: Small (individual or small-team efforts) - $200k/year for up to 3 years Medium (one or PIs) - $500k/year for up to 3 year Large (multiple PI’s) - $1million/year for up to 5 years Special issue of IEEE Transactions on Parallel and Distributed Systems (~May, 2009) March 3, 2009Christopher Brooks, "CHESS Overview"

8 March 3, 2009Christopher Brooks, "CHESS Overview" Mission of Chess To provide an environment for graduate research in cyber-physical systems by developing Model-based design Tool-supported methodologies For Real-time Fault-tolerant Robust Secure Heterogeneous Distributed Software The fate of computers lacking interaction with physical processes. We are on the line to create a “new systems science” that is at once computational and physical.

9 March 3, 2009Christopher Brooks, "CHESS Overview" Some Applications Addressed Automotive Avionics: UAVs Networked Embedded Systems Systems Biology Automotive

10 March 3, 2009Christopher Brooks, "CHESS Overview" Project Approach Model-Based Design (the view from above) principled frameworks for design specification, modeling, and design manipulable (mathematical) models enabling analysis and verification enabling effective synthesis of implementations Platform-Based Design (the view from below) exposing key resource limitations hiding inessential implementation details Tools concrete realizations of design methods

11 March 3, 2009Christopher Brooks, "CHESS Overview" Claire J. Tomlin: Decentralized Control of a Quadrotor Aircraft Fleet to seek Information Students: Jeremy Gillula, Haomiao Huang Vijay Pradeep, Robin Raffard, Javad Rezvani Jalal, Kaushik Roy Michael Vitus, Steve Waslander Planning operations for teams of aircraft Collision Avoidance, Region Surveillance Stanford Testbed of Autonomous Rotocraft for Multi-Agent Control (STARMAC) MURI with Vanderbilt, CMU, Stanford and Berkeley

12 March 3, 2009Christopher Brooks, "CHESS Overview" Alberto Sangiovanni-Vincentelli: COmmunication Synthesis Infrastructure (COSI) Other Researchers: Alessandro Pinto (UTRC), Luca Carloni (Columbia Univ.) A public-domain design framework for the design exploration and synthesis of interconnection networks.. Based on the Platform-Based Design paradigm On chip communication design flow Result: optimization interconnection network Hypothetical HVAC Design Result: wired and wireless networks Sensors Actuators CoreRouter

13 March 3, 2009Christopher Brooks, "CHESS Overview" S. Shankar Sastry: Control of Hybrid Systems “Embedded and autonomous software, computer vision, and computation in novel substrates such as DNA, nonlinear and adaptive control, robotic telesurgery, control of hybrid systems, embedded systems, sensor networks and biological motor control.” A. Abate, M. Prandini, J. Lygeros, and S. Sastry. "Probabilistic Reachability and Safety for Controlled Discrete Time Stochastic Hybrid Systems”, Automatica, November, 2008 S. Pai M. Meingast T. Roosta S. Bermudez S. Wicker D. Mulligan and S. S. Sastry, "Confidentiality in Sensor Networks: Transactional Information," Submitted, October 2006, Revised August 2007, IEEE Security and Privacy Magazine; to appear.

14 March 3, 2009Christopher Brooks, "CHESS Overview" Edward A. Lee Modeling, simulation, and design of concurrent, real-time, embedded systems. Students and Post Docs: Dai Bui, Yasmine Demir, Thomas Huining Feng, Shanna-Shaye Forbes, Ben Lickly, Isaac Liu, Eleftherios Matsikoudis, Slobodan Matic, Hiren Patel,, Yang Zhao, and Jia Zou Ptolemy II--Heterogeneous Concurrent Modeling and Design in Java Precision-timed (PRET) machines: reintroduces timing Real-time software: MoCs with timing and concurrency Distributed computing: Programming Temporally Integrated Distributed Embedded Systems (PTIDES) Understandable concurrency: “The Problem with Threads” Systems of systems: large scale systems: networking, grid... Abstract semantics: Domain polymorphism, behavioral type sys. Hybrid systems: Blended continuous and discrete dynamics...

15 Chess Industrial Membership Standard Membership Agreement Five year agreement with an escape clause each year Well defined intellectual property agreement March 3, 2009Christopher Brooks, "CHESS Overview"

16 Intellectual Property Rights From Appendix C of the CHESS Agreement “The objective of CHESS is to maximize the impact of its research. To achieve this, CHESS will maintain an open atmosphere that encourages early and frequent publication and other public dissemination of research results. Software will primarily be released using an open source license such as the Berkeley Software Distribution (BSD) License. Selected software, such as those subject to third party obligations, may be released under different licenses.” “Patents are expected to be rare...” March 3, 2009Christopher Brooks, "CHESS Overview"

17 The BSD License: Used for most software Copyright (c) YEAR The Regents of the University of California. All rights reserved. Permission is hereby granted, without written agreement and without license or royalty fees, to use, copy, modify, and distribute this software and its documentation for any purpose, provided that the above copyright notice and the following two paragraphs appear in all copies of this software. IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. March 3, 2009Christopher Brooks, "CHESS Overview"

18 March 3, 2009Christopher Brooks, "CHESS Overview" CHESS Open Source Software Precision Timed (PRET) Architecture Simulator 1.0 The goal of the PRET Project is to reintroduce timing predictability and repeatability by judiciously adopting architectural optimization techniques to deliver performance enhancements without sacrificing timing predictability and repeatability (1/26/09) Clotho Platform-based Design of synthetic biological systems (10/31/08) CHIC, a modular verifier for behavioral compatibility of software and hardware component interfaces. (5/30/08) Ptplot 5.7, a signal plotter. (4/4/08) Ptolemy II 7.0.2, a block diagram editor and simulator for continuous-time, hybrid and data flow systems. VisualSense, a visual editor and simulator for wireless sensor network systems and HyVisual, a block-diagram editor and simulator for continuous-time and hybrid systems. (4/4/08) SKETCH 0.9.5, a sketching system based on combinatorial search, as opposed to transformations. (4/23/07) Viptos 1.0.2, a block-diagram editor and simulator for TinyOS systems. (2/9/07) CIL, a front-end for the C programming language that facilitates program analysis and transformation. (2/5/07) Ellipsoidal Toolbox 1.1, a standalone set of easy-to-use configurable MATLAB routines to perform operations with ellipsoids and hyperplanes of arbitrary dimensions. (12/10/06) Generic Modeling Environment (GME ), a configurable toolkit for creating domain-specific modeling and program synthesis environments. (12/1/06) Graph Rewriting And Transformation (GReAT 1.6.0), a component technology of GME comprised of a metamodel based graph transformation language useful for the specification and implementation of model-to-model transformations. (12/1/06) Universal Data Model (UDM 3.1.1) generates C++ API from UML class diagrams. The API can be used to read/write XML files, GME databases, etc. and is component technology for Graph Rewriting And Transformation (GReAT). (12/1/06) Metropolis consists of an infrastructure, a tool set, and design methodologies for various application domains. The infrastructure provides a mechanism such that heterogeneous components of a system can be represented uniformly and tools for formal methods can be applied naturally. (10/12/06) COSI: the COmmunication Synthesis Infrastructure The COSI project aims at providing an infrastructure to assist designer in the difficult task of interconnecting components. (3/15/06) Hierarchical Timing Language (HTL) Compiler and E-Machine – HTL is a programming language for hard real-time systems. (2/10/06) Giotto, a methodology for embedded control systems development. (10/28/04)

19 CHESS Industrial Membership Levels March 3, 2009Christopher Brooks, "CHESS Overview" Affiliate > $75k/year Affiliate membership includes the following benefits: Invitation to periodic reviews of CHESS. Access to selected internal CHESS websites. Access to publications, reports and presentations by CHESS researchers. Access to students and faculty in CHESS. An annual research report of the activities of CHESS. Advance notice of intellectual property created by CHESS. Intellectual property access as defined in the agreement. (See Appendix C(1)) Small or Minority-Owned Business > $10k/year All of the benefits of an Affiliate Partner > $150k/year All of the benefits of an Affiliate, plus the following: Opportunity to nominate a member of the Industrial Advisory Board of CHESS on an annual basis. Opportunity to place visitors, as Visiting Industrial Fellows (VIF) at the University. Selected early access to software developed by CHESS. Premium Partner > $300k/year All of the benefits of a Partner, plus the following: Intellectual property access as defined in the agreement. Upon request, an annual private research review meeting at the University or at a mutually agreeable site.

20 March 3, 2009Christopher Brooks, "CHESS Overview" Center for Hybrid and Embedded Software Systems (CHESS) Summary CHESS started in 2002 with NSF funding. On going with funding from industry and government. "A cyber-physical system (CPS) integrates computing and communication capabilities with monitoring and / or control of entities in the physical world dependably, safely, securely, efficiently and in real- time.“ – S. Shankar Sastry CHESS is providing an environment for graduate research in cyber-physical systems by developing: Model-based design Tool-supported methodologies For: Real-time Fault-tolerant Robust Secure Heterogeneous Distributed Software CHESS Board of Directors: Edward A. Lee Alberto Sangiovanni-Vincentelli S. Shankar Sastry Claire J. Tomlin Current Industrial Partners: Agilent, Bosch RTC, Lockheed- Martin, National Instruments, Toyota For more information, see: