CSCI P545  Computer Science Department, School of Informatics, Indiana University Wed Apr 8 12:49:23 EDT 2009 [SDJ]

Fall 2009 Semester
CAUTION: This index page for CSCI P545, Embedded & Real-Time Systems is under revision and subject to frequent changes. This notice will be removed as soon as the revision is complete. Meanwhile, the content may be obsolete, incomplete or incorrect. If you have questions about the the course please contact the Instructor, Steve Johnson or drop by my office in Lindley 330F.

Fall 2009

CSCI P545 – Embedded & Real-Time Systems
CSCI B490 – Experiments in Autonomous Robotics
CSCI Y391 & Y790 – Independent Study Robotics Projects

What's New – Look here regularly for postings
Apr 10
•The Year of ERTS is starting!
This Fall, an expanded version of P545 is being offered to engage participants whose program of study includes an interest in robotics or robotic experimentation. For undergraduates in both informatics and computer science, a section of CSCI B490 (seminar, §29732) is scheduled on the topic of Autonomous Robotics to be held with P545. Undergraduate and graduate students interested in arranging independent study (CSCI Y491, CSCI Y790, INFO 492/3) are also invited to participate. For more information, see the Year Of ERTS announcement.
Course Information [description] [topics] [background] [text] [goals] [grading]
Course: P545 Embedded & Real-Time Systems
B490 Experiments in Autonomous Robotics (3 cr.)
The term embedded system refers to purpose-specific software executing in a dedicated setting. Some examples are: cellular telephony, network routing devices, consumer electronics, robots, digital avionics, automotive systems, and ``smart'' cards, to name a few. This is a project-oriented course in which classroom topics are explored through in-depth experiences in a substantial laboratory project.
Instructor:
Lab: 		Steve Johnson (sjohnson@cs.indiana.edu)
Bryce Himebaugh (bhimebau@cs.indiana.edu)
Meetings:
Lecture: 9:30-10:45 MW LH035
Lab: 2:00-5:00 F LH008 or the P545 Test Field
Description: P545 Embedded and Real-Time Systems (3 cr.) †P: Any 400-level ``systems'' course (middle digit 3 or 4). Design and implementation of purpose-specific, locally distributed software systems. Models and methods for time-critical applications. Real-time operating systems. Testing, validation, and verification. Safety-critical design. Related topics, such as resiliency, synchronization, sensor fusion, etc. Lecture and laboratory.
†NOTE: Students with deficiencies but having compensatory special interests (e.g. instrumentation science, robotics, cognitive science, multimedia, etc.) are encouraged to consult with the instructor about approval to enroll.
Laboratory: ERTS is a computer controlled golf car. In the first half of the course, students do a cumulative sequence of assignments learning basic GPS navigation and obstacle avoidance. In the latter half, projects are based individual interests and backgrounds of the participants.

Please Note:

Embedded system design requires a broad background, encompassing both system engineering and "domain expertise." This course is designed to accomodate students with varied interests and goals. See Background Requirements below. However, the higher aim of the course laboratory is to develop a configurable platform for collaborative research in systems, sensor networks (especially vision), and congnitive science (especially machine learning and human-robot interaction). Or contact the instructor about other participation options.

§ Course Overview

The term embedded system refers to purpose-specific software executing in a dedicated setting. Some examples are: cellular telephony, network routing devices, consumer electronics, robots, digital avionics, automotive systems, and ``smart'' cards, to name a few. This is an advanced, project-oriented course in which classroom topics are explored through in-depth experiences in a substantial laboratory project. Embedded systems are ubiquitous in modern society. Their defining characteristics are distinctive in many aspects, and consquently, their mathematical models, design methods, implementation techniques, operating systems, performance analysis, and computer-aided design tools differ substantially from those for to other classes of systems. Furthermore, underlying technologies are evolving rapidly. The perspective offered in lecture is augmented by a substantial, cumulative laboratory project, which provides the necessary experience to pursue projects and research entailing embedded-system use or design.

§ Background Requirements

NOTE: Students with deficiencies but having compensatory special interests (e.g. instrumentation science, robotics, cognitive science, multimedia, etc.) are encouraged to consult with the instructor about approval to enroll.

The course assumes a basic fluency in ``systems'' concepts/terminology and senior-level programming competency. Additional background in diverse areas such as networks, distributed computing, hardware, etc., is desirable but not required.

Much of the programming involves interaction with the underlying operating system through system calls. Exposure comparable to that of the Operating Systems (P436) is adequate preparation. Specific OS facilities used include: sockets, signals, time, timers, and a few others.

Embedded systems are typically made up of both software and hardware components. This course focuses on software aspects. However, if a sufficient number of hardware students are enrolled, opportunities will be created to work in that realm, most likely using FPGA and micro-controller technologies, as taught in P442.

§ Textbook and References

It has not been determined whether this section of P545 will have a required textbook. Additional readings are posted on line through this web page. For reference purposes, students may wish to acquire an advanced book on system-level programming in Unix. Here is a list of possible textbooks:

  1. Hermann Kopetz. (Recommended but not required) Real-Time Systems: Design Principles for Distributed Embedded Applications. Kluwer Academic Publishers, 1997. Strong orientation toward safety-critical application, sychronous methods and a particular approach to resiliency.
  2. Wayne Wolf. High-Performance Embedded Computing: Architectures, Algorithms, and Applications. (Morgan-Kauffman Publishers, 2006).
  3. Alan Burns and Andy Wellings. Real-Time Systems and Programming Languages Addison-Wesley, 2001 (3rd ed.).
  4. Jane W.~S.~Liu. Real-Time Systems. Prentice-Hall, 2000.
  5. Qing Li with Caroline Yao. Real-Time Concepts for Embedded Systems. CMP Books, 2003.
  6. W. Richard Stevens and Stephen A. Rago. Advance Programming in the UNIX® Environment (2nd ed.), Addison-Wesley, 2005. Architectures, Algorithms, and Applications. Morgan-Kauffman Publishers,

§ Topic Outline

Tentative. Based on 40 aggregate lecture hours, based on 32 75-minute lectures
 • Architectures and Applications [1]. Digital control; "smart" electronics; sensor arrays; multimedia; networking components; instrumentation; heterogeneous systems; system-on-chip. Networks: ad hoc, common-carrier, hierarchical etc.
 • Terminology and Tradeoffs [2]. Reactive systems, event models; periodicity; throughput, latency, jitter, slack; polling and sampling; modes and configurability; resilience; hard-time and soft-time constraints. Worst-case and expected-case analysis.
 • Tools and technologies [6] Tools, design flows, libraries and packages, instrumentation, documentation.
 • Time [3]. Physical and logical; resolution, precision, accuracy; global and distributed synchronization. Clock synchronization algorithms, agreement protocols.
 • Resiliency [3] Faults, errors and failures; failure rates, transient failure; fault models; fault containment; fault tolerance and agreement; recovery.
 • Communication [4] Time division, carrier sense, collision-detect, etc. OSA model. Representative standards (e.g. IP, FlexRay, CAN, WiFi, ad hoc). Buffer network analysis.
 • Real-Time Operating Systems [6] Threads, tasks, processes periodicity. Scheduling parameters, static and dynamic heuristics; Thread integration, priorities and preemption. Models and instances of memory/file management.
 • Methods [2] Process-oriented design; synchronous and asynchronous abstractions; message based, image based, data-flow, etc. Design flow, simulation. Requirements, specification, implementation.
 • Testing. [3] Unit, component, integration testing; Testing frameworks, simulation. Instrumentation and measurement; Validation and verification; Formal analysis: models, tools. Safety aspects: classification, certification, documentation.
 • Sensors [4]. Statistical models, resolution, filters; feature synthesis and fusion.
 • Components [4] Device handling, point-to-point protocols (e.g. USB, Firewire); Platform computers, microcontrollers, FPGAs and software cores; Codesign, incorporating hardware, configurability and reconfigurability.

§ Languages and Tools.

The primary programming language used in this course is Python running under Linux. Python is a scripting language, increasingly popular for rapid prototyping. Prior knowledge of Python is not assumed, but it is expected that participants have enough programming experience to learn it as the progress.

Later in the course, the choice of language and system is left to the student. At higher levels, one goal is to "mount" existing software systems for experimentation in ERTS. For students who are interested in exploring embedded systems at lower implementation levels, knowledge of C, and familiarity with Linux system calls is needed. For students interested in real-time operating system (RTOS) aspects, copies of the QNX RTOS are available.

The course project includes a substantial, documented design effort. The class will uses the Doxygen documentation generator for this purpose.

§ Laboratory

The standard course laboratory is a full-semester, whole-class project involving specification, design, implementation, and testing of a real embedded system. Participants work in teams of 3 to 5 people; and every effort is made to assure that each team, in aggregate, has the necessary skills to complete the project successfully.

The primary components in evaluating projects are (1) field testing for functionality and (2) documentation the work, which includes a presentation.

The laboratory platform is a golf car modified for computer control. Previous classes have developed basic solutions for:

  1. autonomous navigation system using the Global Positioning System (GPS) to follow a pre-determined course, and
  2. obstacle detection using a short-range laser range-finding sensor.
Each successive class will refine and enhance existing capabilities. The goals in 2009 include:
  1. real-time obstacle avoidance
  2. integration of a vision system
  3. experimental prototyping for other researchers.

Initially, the class is given a software framework for controlling steering, acceleration and breaking, as well as sensors for GPS, proximate object detection, and rudimentary vision. Classroom lectures explain and explore the implementation of the framework as student groups develop solutions to the navigation problems in a cumulative series of lab assignments, such as:

  1. Lab bench exercises dealing with time measurement
  2. Evaluation of prior GPS Navigation projects
  3. Empirical characterization vehicle dynamics
  4. Path planing, tested in simulation
  5. Field testing for refined path planning and obstacle detection. to continue throughout the rest of the semester.
  6. Integrating external sensor input
  7. Sensor fusion, tactical path planning
  8. Public demonstration of results

It is important for participants to understand that, as they develop and test their implementations of higher functionality, they are also contributing to the on-going design and enhancement of the laboratory platform by reporting on its empirical performance in comparison to design assumptions on which their software development is based.

§ Evaluation

More to come...

Please review: