Definitions of predictability for Cyber Physical Systems

With the recent proliferation of different types of Cyber Physical Systems (CPS), it is critically important to investigate the predictability of such systems. Along with functional correctness of the components, these systems must also ensure that timing and delay constraints of components are properly for the entire system to behave in a predictable manner in presence of various kinds of uncertainties. While the functional correctness of the CPS components has been investigated in the past, very little is available about the timing issues. The objective of this paper is to conduct an investigation of key issues involved to ensure the predictability of the system, introduce rigorous definitions of performance parameters, and propose metrics for their evaluation and analyze their suitability to be used in the presence of uncertainties in which CPS operate. The results are expected to provide greater insight into the time critical behavior of CPS components.

[1]  Jane W.-S. Liu,et al.  Validating timing constraints in multiprocessor and distributed real-time systems , 1994, 14th International Conference on Distributed Computing Systems.

[2]  Yixin Chen,et al.  End-to-End Communication Delay Analysis in Industrial Wireless Networks , 2015, IEEE Transactions on Computers.

[3]  Ola Redell,et al.  Exact best-case response time analysis of fixed priority scheduled tasks , 2002, Proceedings 14th Euromicro Conference on Real-Time Systems. Euromicro RTS 2002.

[4]  Johan J. Lukkien,et al.  Best-case response times and jitter analysis of real-time tasks with arbitrary deadlines , 2013, RTNS '13.

[5]  Partha S. Roop,et al.  Deterministic, predictable and light-weight multithreading using PRET-C , 2010, 2010 Design, Automation & Test in Europe Conference & Exhibition (DATE 2010).

[6]  Halit Eren,et al.  Measurement, Instrumentation, and Sensors Handbook : Spatial, Mechanical, Thermal, and Radiation Measurement , 2014 .

[7]  Peter Marwedel,et al.  Scratchpad memory: a design alternative for cache on-chip memory in embedded systems , 2002, Proceedings of the Tenth International Symposium on Hardware/Software Codesign. CODES 2002 (IEEE Cat. No.02TH8627).

[8]  Hermann Kopetz,et al.  TTP - A time-triggered protocol for fault-tolerant real-time systems , 1993, FTCS-23 The Twenty-Third International Symposium on Fault-Tolerant Computing.

[9]  P. Matias Arenas,et al.  IEEE 802.11 Throughput and Delay Analysis for mixed real time and normal data traffic , 2006 .

[10]  Pascal Raymond,et al.  The synchronous data flow programming language LUSTRE , 1991, Proc. IEEE.

[11]  Giorgio C. Buttazzo,et al.  Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications (Real-Time Systems Series) , 2010 .

[12]  Edward A. Lee.  Cyber Physical Systems: Design Challenges , 2008, 2008 11th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC).

[13]  Krithi Ramamritham,et al.  What is predictability for real-time systems? , 1990, Real-Time Systems.

[14]  Christian Fraboul,et al.  Worst-case end-to-end delay analysis of an avionics AFDX network , 2010, 2010 Design, Automation & Test in Europe Conference & Exhibition (DATE 2010).

[15]  Jayme Luiz Szwarcfiter,et al.  A Structured Program to Generate all Topological Sorting Arrangements , 1974, Information Processing Letters.

[16]  Lothar Thiele,et al.  Design for Timing Predictability , 2004, Real-Time Systems.

[17]  Edward A. Lee.  Computing needs time , 2009, CACM.

[18]  Robert Bosch,et al.  Comparison of Event-Triggered and Time-Triggered Concepts with Regard to Distributed Control Systems , 2004 .

[19]  Giorgio Buttazzo,et al.  Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications , 1997 .

[20]  Hermann Kopetz,et al.  Event-Triggered Versus Time-Triggered Real-Time Systems , 1991, Operating Systems of the 90s and Beyond.

[21]  Robert Metcalfe,et al.  Ethernet: distributed packet switching for local computer networks , 1976, CACM.

[22]  Ana Sokolova,et al.  The Logical Execution Time Paradigm , 2012, Advances in Real-Time Systems.

[23]  Abdoulaye Gamati.  Designing Embedded Systems with the SIGNAL Programming Language: Synchronous, Reactive Specification , 2009 .

[24]  Alan Burns,et al.  Preemptive priority-based scheduling: an appropriate engineering approach , 1995 .

[25]  Edward A. Lee,et al.  Actor-Oriented Design of Embedded Hardware and Software Systems , 2003, J. Circuits Syst. Comput..

[26]  Robert Mores,et al.  FlexRay - The Communication System for Advanced Automotive Control Systems , 2001 .

[27]  Hermann Kopetz.  The Rationale for Time-Triggered Ethernet , 2008, 2008 Real-Time Systems Symposium.

[28]  K. H. Kim,et al.  Temporal uncertainties in interactions among real-time objects , 1990, Proceedings Ninth Symposium on Reliable Distributed Systems.

[29]  Jan Reineke,et al.  A Template for Predictability Definitions with Supporting Evidence , 2011, PPES.

[30]  Wang Yi,et al.  Building timing predictable embedded systems , 2014, ACM Trans. Embed. Comput. Syst..

[31]  Nilson C. Bernardes.  On the predictability of discrete dynamical systems II , 2001 .

[32]  Walter Lang,et al.  Modeling of the Response Time of Thermal Flow Sensors , 2011, Micromachines.

[33]  E. Douglas Jensen.  Wrong Assumptions and Neglected Areas in Real-Time Systems , 2008, 2008 11th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC).

[34]  Hermann Kopetz,et al.  Real-time systems , 2018, CSC '73.

[35]  Martin Haenggi,et al.  Towards an end-to-end delay analysis of wireless multihop networks , 2009, Ad Hoc Networks.

[36]  Ronald L. Rivest,et al.  Introduction to Algorithms , 1990 .

[37]  Walter Lang,et al.  Response time of thermal flow sensors with air as fluid , 2011 .

[38]  Lui Sha,et al.  Priority Inheritance Protocols: An Approach to Real-Time Synchronization , 1990, IEEE Trans. Computers.

[39]  Gidon Gershinsky,et al.  Delay analysis of real-time data dissemination , 2008, CNS '08.

[40]  Thomas A Henzinger,et al.  Two challenges in embedded systems design: predictability and robustness , 2008, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences.

[41]  Raimund Kirner,et al.  Time-Predictable Computing , 2010, SEUS.

[42]  Christoph M. Kirsch,et al.  The Evolution of Real-Time Programming , 2007, Handbook of Real-Time and Embedded Systems.

[43]  Shu-Ngai Yeung,et al.  End-to-end delay analysis for real-time networks , 2001, Proceedings 22nd IEEE Real-Time Systems Symposium (RTSS 2001) (Cat. No.01PR1420).

[44]  Gérard Berry,et al.  The Esterel Synchronous Programming Language: Design, Semantics, Implementation , 1992, Sci. Comput. Program..

[45]  Edward A. Lee.  Computing Foundations and Practice for Cyber- Physical Systems: A Preliminary Report , 2007 .

[46]  M. V. Panduranga Rao,et al.  A Research in Real Time Scheduling Policy for Embedded System Domain , 2018, CLEI Electron. J..

[47]  Mark Klein,et al.  An Analysis of Input/Output Paradigms for Real-Time Systems , 1990 .

[48]  Edward A. Lee,et al.  A PRET architecture supporting concurrent programs with composable timing properties , 2010, 2010 Conference Record of the Forty Fourth Asilomar Conference on Signals, Systems and Computers.

[49]  Jacob Fraden,et al.  Handbook of modern sensors , 1997 .

[50]  Jakob Engblom,et al.  The worst-case execution-time problem—overview of methods and survey of tools , 2008, TECS.

[51]  L. Sha,et al.  The priority ceiling protocol: A method for minimizing the blocking of high priority Ada tasks , 1988, IRTAW '88.