Model Based Development of Embedded Systems HT 13

Overal Goals

Modeling physical parts of a system and its environment. Major techniques include differential equations and difference equations, and transfer functions.
Modeling discrete changes in behavior, and controllers. Major techniques include automata (which can be combined with differential equations), state machines of different forms.
Modeling various aspects of implementations, including scheduling, networks, parallel execution.
Using tools for modeling, analysis, and code generation, primarily Simulink

Week	Date		Time	Place	What
36	Mon	2/9	08-10	1113	Motivation, Course Overview
	Tue	3/9	08-10	1112	Modeling in Simulink
	Wed	4/9	10-12	1212	Modeling and controller generation in Simulink
37	Mon	9/9	08-10	1112	NOTE: Cancelled
	Tue	10/9	10-12	1112	Assignmeng / Lab1 tutorial/follow-up
	Fri	13/9	13-15	6143	Assignment / Lab1 follow-up, plus maybe inverted pendulum. NOTE room (behind Rullan)
38	Mon	16/9	08-10	1112	Start of LEGO NXT construction. Handing out kits
	Tue	17/9	08-10	1112	LEGO NXT construction
	Thu	19/9	10-12	1112	Finalizing the LEGO NXT modeling
39	Mon	23/9	08-10	1112	Going through the NXT model
39	Wed	25/9	10-12	1112	Controller generation for NXT
40	Mon	30/9	08-10	1112	Hybrid Systems
	Tue	1/10	10-12	1112	Hybrid Systems
	Fri	4/10	8-10	1112	Homework or problem solving
41	Mon	7/10	08-10	1113	Timing in Simulink Models
	Tue	8/10	10-12	1113	Specification and Verification of Models
	Tue	8/10	13-15	offices	We are Available for discussion in our offices (Bengt and Paul)
	Thu	10/10	08-10	1112	Modeling Communication
42	Wed	16/10	10-12	1112	model of a simple protocol
42	Mon	18/10	08-17	TBD	No Final exam
3	Tue	14/1	08-17	TBD	Final Reexam

On Modeling and Control Generation for Simulink
- The main material is Control Tutorials for MATLAB and Simulink. These give a very good introduction to modeling and controller design using Simulink. Other sources on MATLAB/Simulink include
  - Simulink tutorial by T. Nguyen (not so advanced)
  - Introduction to Model-Based System Design, course given at Rose-Hulman Institute Of Technology (you could look at lecture notes)
  - Getting Started with Simulink
On StateFlow
- Getting Started with StateFlow.
- model of bouncing ball in simulink
- model of bouncing ball in stateflow, using continuous update in Stateflow
On Hybrid Systems, Hybrid Automata (will be added)
Specification and Verification of Simulink Models
- Simulink Design Verifier presentation
- slides on verification (e.g., of Hybrid Systems)
- Verification for Dummies Presentation by Oded Maler
- Presentation on SpaceEx
Related, Relevant Courses, e.g.,
- Introduction to Computer Control Systems (1RT485, 5hp)
Material on Balancing LEGO NXT on Two wheels
- main page with links to models, and documentation.
- Instructions (adapted) for installation of ECRobot software.

Lecturer: Bengt Jonsson, room 1435, phone 471 3157, e-mail: bengt (at) it (dot) uu (dot) se, homepage

Office Hours: as you like, room 1435
Teaching Assistant: Pavle Subotic, room 1117, phone 471 6168, e-mail: psubotic (at) gmail (dot) com, web page

The overall grade will (roughly equally) combine these three parts.

Assignment 1 has been handed out and is due 130918.
Assignment 2 has been handed out and is due 131009.
Assignment 3, will be due 131018, and will be to model the hybrid automaton that models collision avoidance (slide 24-25 in slides by Pappas) in Simulink/Stateflow, and simulate it for various initial conditions, to try to find a scenario where collision happens anyway. The slide is buggy, think about how the transitions should look (or you could look in this paper)
Assignment 4 has been handed out and is due 131025.

Here are suggestions for projects that extend the LEGO functionality. You should present suggestions for your own extension of the functionality at the Lecture on October 10. The project should be handed in by October 25.

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