CS637: Embedded and Cyber-Physical Systems

Fall 2022 (August 1, 2022 - November 14, 2022)

Lecture Hours: Monday and Thursday 12 noon to 1:30 pm
Office Hour: By Appointment

Lecture Venue: KD 102

Instructor: Indranil Saha (Email: isaha[at]cse[dot]iitk[dot]ac[dot]in)
Teaching Assistants: Aakash (Email: aakashp[at]cse[dot]iitk[dot]ac[dot]in)
                                    Shatroopa Saxena (Email: ssaxena[at]iitk[dot]ac[dot]in)
                                    Swastik Maity (Email: swastikm20[at]iitk[dot]ac[dot]in)


Overview

A cyber-physical system is a collection of interconnected computing devices interacting with the physical world. The computing devices together constitute a cyber system that regulates the behavior of the physical world. The cyber system closely monitors the physical world through sensors, computes required control laws based on the current state of the physical world, and applies the computed control law to the physical world through actuators. The sensors, the controllers, and the actuators are developed on top of an embedded platform. Thus, the cyber component of a cyber-physical system is often termed as an embedded control system.

Developing an embedded control system requires the understanding of the physical world with which the system has to interact. The understanding of the physical world is captured in a faithful model that is used for synthesizing feedback control laws using control theoretic methods. Implementing the feedback control law on the embedded computing platform requires addressing the challenges of embedded computing, for example, the availability of limited resources in terms of computing power and memory, stringent timing requirements, and so on. Moreover, most cyber-physical systems are safety-critical. Thus, it is essential that the correctness of such systems is established through the use of formal verification techniques.

The course will cover the modeling, implementation and verification issues related to developing a cyber-physical system. Through the discussion of the implementation of an embedded control system, the course will cover the basic design principles of an embedded system.


Prerequisites

The course does not have any formal prerequisites. The students are expected to have mathematical maturity of the level of an undergraduate degree in engineering. However, some familiarity with finite state machines and ordinary differential equations, and programming experience will be helpful.


Topics

  • Modeling Dynamic Behaviors and Control: Continuous Dynamics, Feedback Control, Discrete Systems, Hybrid Systems, Composition of State Machines, Concurrent Models of Computation
  • Design and Implementation: Sensors and Actuators, Embedded Processors, Memory Architectures, Input and Output Interface, Multitasking, Scheduling
  • Analysis and Verification: Invariants and Temporal Logic, Equivalence and Refinement, Rechability Analysis, Model Checking, Timing Analysis

  • Grading Policy

    Homework Assignments and Mini Project - 20%
    Project - 30%
    Mid-Semester Examination - 20%
    End-Semester Examination - 30%

    Our department follows this anti-cheating policy strictly.


    Exam Schedule and Deadlines

    Homework
    Homework 1 (Deadline: August 21, 2022)
    Homework 2 (Deadline: September 4, 2022)
    Homework 3 (Deadline: September 16, 2022)
    Homework 4 (Deadline: October 28, 2022)

    Mini Project
    Milestone 1 (Deadline: October 7, 2022)
    Milestone 2 (Deadline: October 21, 2022)
    Milestone 3 (Deadline: November 4, 2022)
    Milestone 4 (Deadline: November 11, 2022)

    Project
    Project Proposal Submission (Deadline: September 2, 2022)
    Final Project Presentation (Scheduled on October 27, 2022 - November 14, 2022)
    Final Report Submission (Deadline: November 14, 2022)

    Mid-Semester Examination
    September 23, 2022 (Friday) 8:00 am to 10:00 am at RM101

    Final Examination
    November 20, 2022 (Sunday) 8:00 am to 11:00 am at RM101


    Lecture Schedule


    Lecture Date Topic References
    1August 1, 2022Introduction to the course[LS15 - Ch 1]
    2August 4, 2022Modeling Dynamic Behaviors - Continuous Dynamics[LS15 - Ch 2]
    3August 8, 2022Basics of Feedback Control Theory[AM09]
    4August 11, 2022Basics of Feedback Control Theory[AM09]
    --August 15, 2022 Holiday: Independence Day
    5August 18, 2022Modeling Dynamic Behaviors - Discrete Dynamics[LS15 - Ch 3]
    6August 22, 2022Hybrid Systems[LS15 - Ch 4]
    7August 25, 2022Modeling of Timed Systems [BK08 - Ch 8]
    8August 29, 2022Composition of State Machines[LS15 - Ch 5]
    9Swptember 1, 2022Concurrent Models of Computation[LS15 - Ch 6]
    10Swptember 5, 2022Sensors and Actuators[LS15 - Ch 7]
    11September 8, 2022Embedded Processors[LS15 - Ch 8]
    12September 12, 2022Memory Architectures[LS15 - Ch 9]
    13September 15, 2022Invariants and Temporal Logic[LS15 - Ch 13]
    --September 19, 2022 Mid-Semester Examination
    --September 22, 2022Mid-Semester Examination
    14September 26, 2022Scheduling[LS15 - Ch 12]
    15September 29, 2022Scheduling[LS15 - Ch 12]
    --October 3, 2022 Mid-Semester Recess
    --October 6, 2022 Mid-Semester Recess
    16October 10, 2022Equivalence and Refinement [LS15 - Ch 14]
    17October 13, 2022Reachability Analysis and Model Checking [LS15 - Ch 15]
    18October 17, 2022Quantitative Analysis[LS15 - Ch 16]
    19October 20, 2022Department Review - No Class
    --October 24, 2022 Holiday: Diwali
    21October 27, 2022Project Presentation
    22October 31, 2022Project Presentation
    23November 3, 2022Project Presentation
    24November 7, 2022Project Presentation
    25November 10, 2022Project Presentation
    26November 14, 2022Project Presentation

    References

    [AD94] Rajeev Alur, David L. Dill: A Theory of Timed Automata. Theor. Comput. Sci. 126(2): 183-235 (1994).
    [AM09] K. J. Astrom and R. M. Murray. Feedback Systems: An Introduction for Scientists and Engineers. Prince- ton University Press, 2009. http://www.cds.caltech.edu/~murray/amwiki/index.php/Main_Page.
    [BK08] C. Baier and J.-P. Katoen. Principles of Model Checking. The MIT Press, 2008.
    [Harel87] D. Harel. Statecharts: A Visual Formalism for Complex Systems. Science of Computer Programming 8 (1987) 231-274.
    [LS15] Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems, A Cyber-Physical Systems Approach, Second Edition, http://LeeSeshia.org, ISBN 978-1-312-42740-2, 2015.
    [Ras05] Jean-Francois Raskin. An Introduction to Hybrid Automata. Handbook of Networked and Embedded Control Systems, pages 491-517, 2005.