1. Computer Science, Software Engineering & Robotics Workshop, FGCU, April 27-28, 2012 Estimating Missing Parameters in a Distributed Real-Time System: Anti-Lock Brake System Simulation Anthony Hadding Mentor: Dr. Janusz Zalewski April 2012

2. Computer Science, Software Engineering & Robotics Workshop, FGCU, April 27-28, 2012 Real-Time System: A computer system with bounded response time. Time-Triggered System: A real-time computer system that provides responses at pre-determined time instants.

3. Computer Science, Software Engineering & Robotics Workshop, FGCU, April 27-28, 2012 The TTTech Development Cluster -Chassis, System Nodes -Monitoring Node, Disturbance Node

4. Computer Science, Software Engineering & Robotics Workshop, FGCU, April 27-28, 2012 How the parameter estimation is done? -Use other systems, if possible -Monitoring subsystem provides increased tolerance at expense of accuracy Yes No Yes No

5. Computer Science, Software Engineering & Robotics Workshop, FGCU, April 27-28, 2012 Simple Model: Brake Force Computation (1) -Approximates brake force as a multiple of wheel speed. -Does not apply brake force in absence of pedal message. -Absence of wheel speed message results in zero force output.

6. Computer Science, Software Engineering & Robotics Workshop, FGCU, April 27-28, 2012 -Computes brake force as a multiple of wheel speed in presence of wheel speed message. -Absence of pedal message results in brake application. -Absence of wheel speed message results in a linearly decreasing estimate of wheel speed. Simple Model: Brake Force Computation (2)