Table Of ContentARCHITECTURE AND DESIGN OF
DISTRIBUTED EMBEDDED SYSTEMS
IFIP -The International Federation for Information Processing
IFIP was founded in 1960 under the auspices of UNESCO, following the First World
Computer Congress held in Paris the previous year. An umbrella organization for societies
working in information processing, IFIP's aim is two-fold: to support information
processing within its member countries and to encourage technology transfer to developing
nations. As its mission statement clearly states,
IFIP's mission is to be the leading, truly international, apolitical organization which
encourages and assists in the development, exploitation and application of information
technology for the benefit of all people.
IFIP is a non-profitmaking organization, run almost solely by 2500 volunteers. It operates
through a number of technical committees, which organize events and publications. IFIP's
events range from an international congress to local seminars, but the most important are:
• The IFIP World Computer Congress, held every second year;
• open conferences;
• working conferences.
The flagship event is the IFIP World Computer Congress, at which both invited and
contributed papers are presented. Contributed papers are rigorously refereed and the
rejection rate is high.
As with the Congress, participation in the open conferences is open to all and papers may
be invited or submitted. Again, submitted papers are stringently refereed.
The working conferences are structured differently. They are usually run by a working
group and attendance is small and by invitation only. Their purpose is to create an
atmosphere conducive to innovation and development. Refereeing is less rigorous and
papers are subjected to extensive group discussion.
Publications arising from IFIP events vary. The papers presented at the IFIP World
Computer Congress and at open conferences are published as conference proceedings, while
the results of the working conferences are often published as collections of selected and
edited papers.
Any national society whose primary activity is in information may apply to become a full
member of IFIP, although full membership is restricted to one society per country. Full
members are entitled to vote at the annual General Assembly, National societies preferring
a less committed involvement may apply for associate or corresponding membership.
Associate members enjoy the same benefits as full members, but without voting rights.
Corresponding members are not represented in IFIP bodies. Affiliated membership is open
to non-national societies, and individual and honorary membership schemes are also offered.
ARCHITECTURE
AND DESIGN
OF DISTRIBUTED
EMBEDDED SYSTEMS
IFIP WG10.3/WG10.4/WG10.5 International Workshop on
Distributed and Parallel Embedded Systems (DIPES 2000)
October 18-19, 2000, SchloB Eringerfeld, Germany
Edited by
Bernd Kleinjohann
I
University of Paderborn C-LAB
Germany
.....
' '
SPRINGER SCIENCE+BUSINESS MEDIA, LLC
Library of Congress Cataloging-in-Publication Data
IFIP WG10.3/WG10.4/WG10.5 International Workshop on Distributed and Parallel Ernbedded
Systerns (2000: Schloss Eringerfeld, Germany)
Architecture and design of distributed embedded systerns: IFIP WG 10 .3/WG 10 .4/WG 10.5
International Workshop on Distributed and Parallel Ernbedded Systerns (DIPES 2000),
October 18-19, 2000, Schloss Eringerfeld, Germany 1 edited by Bernd Kleinjohann.
Includes bibliographical references and index.
ISBN 978-1-4757-4535-1 ISBN 978-0-387-35409-5 (eBook)
DOI 10.1007/978-0-387-35409-5
1. Electronic data processing-Distributed processing-Congresses. 2. Parallel processing
(Electronic computers)-Congresses. 3. Embedded computer systerns-Congresses. I.
Kleinjohann, Bemd.
QA76.9.D5 13475 2000
004'.36-dc21 2001020410
Copyright© 2001 by Springer Science+Business Media New York
Originally published by Kluwer Academic Publishers in 2001
All rights reserved. No part ofthis publication may be reproduced, stored in a retrieval
system or transrnitted in any form or by any means, mechanical, photo-copying,
recording, or otherwise, without the prior written permission of the publisher,
Springer Science+Business Media, LLC.
Printed on acid-free paper.
Content
Preface vii
Workshop Organisation ix
Session 1: Methodology I
A Methodology for Complex Embedded Systems Design:
Petri Nets within a UML Approach
R. J. Machado, J. M Fernandes, H. D. Santos 1
Efficient System Modeling for Complex Real-Time Industrial Networks
using the ACCORDIUML Methodology
S. Gerard, N. S. Voros, C. Koulamas, F. Terrier 11
Analog/Digital Co-Design
F. Heuschen, K. Waldschmidt 23
A Design Methodology for Embedded Systems based on
Multiple Processors
L. Carro, F. Wagner, M Kreutz, M Oyamada 33
Session 2: Architecture
An Architecture for Reliable Distributed Computer-Controlled Systems
L. M Pinho, F. Vasques 43
Generic Architecture Platform for Multiprocessor System-On-Chip Design
A. Baghdadi, N-E. Zergainoh, D. Lyonnard, A. A. Jerraya 53
JPURE -A Purified Java Execution Environment for Controller Networks
D. Beuche, L. Buttner, D. Mahrenholz, W. Schroder-Preikschat,
F.Schon 65
Optimizing Functional distribution in Complex System Design
0. P. Dias, l M Teixeira, J. P. Teixeira, L. B. Becker, C. E. Pereira 75
Session 3: Design Environments
Customizing Software Toolkits for Embedded Systems-On-Chip
A. Halambi, N. Dutt, A. Nicolau 87
Framework for System Design, Validation and Fast Prototyping of
Multiprocessor System-On-Chip
N. E. Zergainoh, A. Baghdadi, L. Tambour, D. Lyonnard, L. Gauthier,
A. Jerraya 99
The Specification Language SpecC within the PARADISE Design
Environment
A. Rettberg, F. J. Rammig, A. Gerstlauer, D. D. Gajski, W. Hardt,
B. Kleinjohann 111
vi
Session 4: Methodology II
Real-Time Support for Online Controller Supervision and Optimisation
M Deppe, 0. Oberschelp 121
A Product Family Approach to Graceful Degradation
W Nace, P. Koopman 131
Environment Modelling in Closed Specifications of Embedded Systems
M Katara, A. Luoma 141
Session 5: Test and Validation
Test Case Design for the Validation of Component-Based Embedded
Systems
W Fleisch 151
Timing Constraints Validation using UPPAAL: Schedulability Analysis
H Sun 161
Session 6: Distribution and Communication
A New Dynamic Scheduling Algorithm for Real-Time Multiprocessor
Systems
Y. Qiao, H Wang, G. Dai 173
Deriving Message Passing Protocols from Collective Behavior
P. Kellomiiki 183
Java Real-Time Publish-Subscribe Middleware for Distributed Embedded
Systems
D. Kim, Y. Doh, Y.-H Lee 193
Session 7: Synthesis
A Verified Hardware Synthesis ofEsterel Programs
K. Schneider 205
EXPLORA -Generic Design Space Exploration during Embedded System
Synthesis
F. Cieslok, H Esau, J. Teich 215
Automatic Code Generation for Multirate Simulink Models with Support
for the OSEK Real-Time Operating System
C. Homburg, U. Kiffmeier, L. Kosters 227
Preface
During the last years the production costs for IT (information technology) systems
have steadily decreased with regard to their complexity. IT applications that had to be
realised as expensive PCBs formerly, can now be realised as a system-on-chip.
Furthermore low cost broad band communication media for wide area communication
as well as for the realisation of local distributed systems are available. Typically the
market requires IT systems that realise a set of specific features for the end user in a
given environment, so called embedded systems. Often end user are not aware that
several IT components are embedded in their application systems. Some examples for
such embedded systems are control systems in cars, air planes, houses or plants,
information and communication devices like digital TV, mobile phones or
autonomous systems like service-or edutainment robots.
For the design of embedded systems the designer has to tackle three major aspects:
• the application itself including the man-machine interface,
• the (target) architecture of the system including all functional and non
functional constraints and
• the design methodology including modelling, specification, synthesis, test
and validation.
For a systematic development of embedded system the second and third points are
of major interest. From the first point results the requirement to support a broad
variety of methodologies for the different application areas of embedded systems. A
design methodology itself has only a limited benefit in an industrial development
environment. A methodology has to be supported by a design environment, before it
becomes common practice. Since the high level specification of features by
appropriate languages becomes more and more important in the design of embedded
systems, methodologies often centre on the introduction or use of modelling and
specification languages. Today most embedded application can only be realised by
distributed systems. The aspect of designing a communication system in a distributed
real-time environment is a subtask in the synthesis design step, which has to solve its
own specific design problems.
This book documents the high quality approaches and results, which were
presented at the International Workshop on Distributed and Parallel Embedded
Systems (DIPES 2000), organised by IFIP workinl groups WG 10.3, WG 10.4 and
WG 10.5. The workshop took place on October 18 -19th, 2000, in SchloB Eringerfeld
near Paderbom, Germany. During the workshop the new IFIP TC 10 SIG-ES (Special
Interest Group on Embedded Systems) was founded. The SIG-ES is a forum for
discussion of all aspects of embedded systems. Some points of special interest are the
design of embedded real time software and real time operating systems as well as the
design of distributed embedded systems. In future the DIPES will be an event
organised by this new SIG-ES.
viii
This book is organised similar to the workshop. Chapters 1 and 4 (Methodology I
and II) deal with different modelling and specification paradigms and the
corresponding design methodologies. In Chapter 3 several design environments for
the support of specific design methodologies are presented. Generic system
architectures for different classes of embedded systems are presented in Chapter 2.
Problems concerning test and validation are discussed in Chapter 5. The last two
chapters include implementation and synthesis techniques for embedded systems
(Chapter 7) and for distribution and communication (Chapter 6).
ix
IFIP Workshop on Distributed and Parallel Embedded Systems -
DIPES 2000
General Chairman
Bernd Kleinjohann
Program Chairman
Bernd Kleinjohann
Local Arrangements
Lisa Kleinjohann
Achim Rettberg
Co-sponsoring Institutions
IFIP WG 10.3, IFIP WG 10.4, IFIP WG10.5
01 (Gesellschaft ftir Informatik)
Program Committee
Bernd Kleinjohann (Chair, Germany) Hermann Kopetz (Austria)
Jean Arlat (France) Ahmed Jerraya (France)
Arndt Bode (Germany) Jay Lala (USA)
Michel Cosnard (France) Erik Maehle (Germany)
Erik Dirkx (Belgium) Franz J. Rammig (Germany)
Nikil Dutt (USA) Jean-Luc Roux (France)
Daniel Gajski (USA) Ralph Stolpe (Germany)
Guang R. Gao (USA) Bernd-Heinrich Schmidtfranz (Germany)
Jean-Luc Gaudiot (USA) Dieter Wuttge (Germany)
Acknowledgements
We thank the organisations that by their donations helped us to obtain this scientific
result:
C-LAB
Daimler Chrysler AG Research
dSPACEGmbH
ORGA Kartensysteme GmbH
Siemens
A METHODOLOGY FOR COMPLEX
EMBEDDED SYSTEMS DESIGN
Petri Nets within a UML Approach
R.J. Machado, J.M. Fernandes, H.D. Santos
DSIIDI, Escola de Engenharia- Universidade do Minho, Portugal
This paper focuses mainly on the analysis phase, describing a
UML-based approach for designing complex embedded systems,
and specifically the usefulness of using shobi-PN v2.0
specifications, a Petri net extension, for modelling the dynamic
behaviour. A relatively complex case study is used to show the
usefulness oft he suggested specification approach.
1. Introduction
The vast majority of embedded systems are control-dominated systems and
traditionally designers specify them using only a state-oriented model, such as FSMs.
However, real-time embedded systems are getting quite complex, which implies that a
different approach is necessary. The system specification has to fulfil several
requirements, namely support for concurrency, timing constraints, hierarchy, data and
control flow, and distributed computations.
Thus, for modelling more aspects of the systems (namely, data and function), it is
important to consider genuine multiple-view models. There is also absolutely no
doubt that IT organisations can improve efficiency and productivity if they share the
same notation. In this context, the authors recommend the utilisation of some UML
views to specify embedded systems, because it is a notation that covers the most
relevant modelling aspects of systems and it is an OMG standard.
Figure 1. The HIDRO lines.
B. Kleinjohann (ed.), Architecture and Design of Distributed Embedded Systems
© Springer Science+Business Media New York 2001
