| 1. |
- Ashjaei, Seyed Mohammad Hossein, 1980-, et al.
(författare)
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Modeling and Timing Analysis of Vehicle Functions Distributed over Switched Ethernet
- 2017
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Ingår i: IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY. - 9781538611272 ; , s. 8419-8424
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Konferensbidrag (refereegranskat)abstract
- This paper proposes an approach to model switched Ethernet communication within a model- and component-based software development framework for vehicular distributed embedded systems. The paper also presents a method to extract the network timing model from the systems that use switched Ethernet networks. In order to provide a proof of concept, an existing industrial component model and its tool suite, namely RCM and Rubus-ICE respectively, are extended by implementing the modeling technique, the timing model extraction method and response-time analysis of the Ethernet AVB protocol. The extensions to RCM are backward compatible with the modeling and end-to-end timing analysis of traditional in-vehicle networks and legacy (previously developed) vehicular distributed embedded systems. Furthermore, the paper discusses the implementation and test strategy used in this work. Finally, the usability of the modeling approach and implemented timing analysis is demonstrated by modeling and time analyzing a vehicular application case study with the extended component model and tool suite.
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| 2. |
- Aybek, Mehmet Onur, et al.
(författare)
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From the Synchronous Data Flow Model of Computation to an Automotive Component Model
- 2021
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Ingår i: Proceedings 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021. - : Institute of Electrical and Electronics Engineers (IEEE).
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Konferensbidrag (refereegranskat)abstract
- The size and complexity of automotive software systems are steadily increasing. Software functions are subject to different requirements and belong to different functional domains of the car. Meanwhile, streaming applications have become increasingly relevant in emerging application areas such as Advanced Driving Assistance Systems. Among models for streaming applications, the Synchronous Data Flow model is well-known for its analysable properties. This work presents transformation rules that allow transforming applications described by the Synchronous Data Flow model to an automotive component model. The proposed transformation rules are implemented in form of a software plugin for an automotive tool suite that allows for timing analysis, code synthesis and deployment to a Real-Time Operating System. To demonstrate the applicability of the proposed approach, a case study of a Kalman filter that is part of a simplified cruise control application is presented. An abstract Synchronous Data Flow model of the filter is transformed into a component that is deployed on an Electronic Control Unit with hard timing guarantees.
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| 3. |
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| 4. |
- Bucaioni, Alessio, et al.
(författare)
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Demonstrator for modeling and development of component-based distributed real-time systems with Rubus-ICE
- 2013
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Ingår i: Open Demo Session of Real-Time Systems.
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Konferensbidrag (refereegranskat)abstract
- We present a demonstrator for modeling and development of component-based vehicular distributed real-time systems using the industrial model Rubus Component Model (RCM) and its development environment Rubus-ICE (Integrated Component development Environment). It demonstrates various stages during the development process of these systems such as modeling of software architecture, performing timing analysis, automatic synthesis of code from the software architecture, simulation, testing, and deployment.
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| 5. |
- Bucaioni, Alessio, et al.
(författare)
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From Modeling to Deployment of Component-Based Vehicular Distributed Real-Time Systems
- 2014
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Ingår i: Proceedings, International Conference on Information Technology. - : IEEE. - 9781479931873 ; , s. 649-654
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Konferensbidrag (refereegranskat)abstract
- We present complete model-and component based approach for the development of vehiculardistributed real-time systems. Within this context, we model and timing analyze these systems using one of the state-of-the-practice modeling and timing analysis techniques that is implemented in the existing industrial model the Rubus Component Model and accompanying tool suite. As a proof of concept, we conduct a case study by developing an intelligent parking assist system which is adistributed real-time application from the vehicular domain. The case study shows various stages during the development such as modeling of software architecture, performing timing analysis, simulation, testing, automatic synthesis of code from the software architecture, deployment, and execution.
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| 6. |
- Bucaioni, Alessio, 1987-, et al.
(författare)
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Modelling and Timing Analysis of Real-time Applications on Evolving Automotive E/E Architectures using Rubus-ICE
- 2019
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Ingår i: Open Demo Session of Real-Time Systems 2019 RTSS@Work'19. - Hong Kong, HongKong.
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Konferensbidrag (refereegranskat)abstract
- The automotive E/E architectures are evolving from the traditional distributed architectures to upcoming consolidated domain architectures and possibly future centralised architectures. This paper demonstrates modelling and timing analysis of real-time embedded systems on contemporary automotive E/E architectures using the Rubus-ICE tool suite. The Rubus concept and tool suite, developed and evolved based on close academic-industrial collaboration, have been used in the automotive industry for over 25 years. The paper also demonstrates recent extensions and discusses proposals to support the modelling and timing analysis of the systems on future E/E architectures.
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| 7. |
- Hänninen, Kaj, et al.
(författare)
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Efficient Event-Triggered Tasks in an RTOS
- 2005
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Ingår i: Proceedings of the 2005 International Conference on Embedded Systems and Applications. - 9781932415537 ; , s. 31-37
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Konferensbidrag (refereegranskat)abstract
- In this paper, we add predictable and resource efficient event-triggered tasks in an RTOS. This is done by introducing an execution model suitable for example control software and component-based software. The execution model, denoted single-shot execution (SSX), can be realized with very simple and resource efficient run-time mechanisms and is highly predictable, hence suitable for use in resource constrained real-time systems. In an evaluation, we show that significant memory reductions can be obtained by using the SSX model.
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| 8. |
- Hänninen, Kaj, et al.
(författare)
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Framework for Real-Time Analysis in Rubus-ICE
- 2008
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Ingår i: 2008 IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, PROCEEDINGS. - 9781424415052 ; , s. 782-788
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Konferensbidrag (refereegranskat)abstract
- In this paper we present the development of a plug-in framework for integration of real-time analysis methods in the Rubus Integrated Component Environment (Rubus-ICE). We also present the implementation, and evaluate the integration, of two state of the art analysis techniques (i) response-time analysis for tasks with offsets and (ii) shared stack analysis, as plug-ins, in the Rubus-ICE framework. The paper shows that the proposed framework is well suited for integration of complex analysis methods. However experience also show that analysis methods are not easily transferred from an academic environment to industry. The main reason for this, we believe, originates from differences in requirements and assumptions between industry and academia.
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| 9. |
- Hänninen, Kaj, et al.
(författare)
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Introducing a Plug-In Framework for Real-Time Analysis in Rubus-ICE
- 2008
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- In this paper, we present the development of a plug-in framework for integration of real-time analysis methods in the Rubus Integrated Component Environment (Rubus-ICE). We also present the implementation, and evaluate the integration, of two state of the art analysis techniques (i) response-time analysis for tasks with offsets and (ii) shared stack analysis, as plug-ins, in the Rubus-ICE framework.The paper shows that the proposed framework is well suited for integration of complex analysis methods. However, experience also show that analysis methods are not easily transferred from an academic environment to industry. The main reason for this, we believe, originates from differences in requirements and assumptions between industry and academia.
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| 10. |
- Hänninen, Kaj, et al.
(författare)
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Supporting Engineering Requirements in the Rubus Component Model
- 2008
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- In this paper we present a component model for development of distributed real-time systems.The model is developed to support development of embedded control systems for ground vehicles. The model aims at supporting three important activities in real-time development, (i) design, (ii) analysis and (iii) synthesis. These activities emphasise different and sometimes conflicting requirements that need to be balanced. For example, developers desire freedom in designing to solve complex tasks, analysis tools require the design to be formal enough for analysis and synthesis need to be efficient for low run-time footprint. We have considered industrial requirements for these activities and developed the RubusCMv3 component model. The model has been developed in close cooperation with industrial partners and it is currently being evaluated on real systems.
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| 11. |
- Hänninen, Kaj, et al.
(författare)
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The Rubus Component Model for Resource Constrained Real-Time Systems
- 2008
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Ingår i: 2008 INTERNATIONAL SYMPOSIUM ON INDUSTRIAL EMBEDDED SYSTEMS. - 9781424419944 ; , s. 177-183
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a component model for development of distributed real-time systems.The model is developed to support development of embedded control systems for ground vehicles. The model aims at supporting three important activities in real-time development, (i) design, (ii) analysis and (iii) synthesis. These activities emphasise different and sometimes conflicting requirements that need to be balanced. For example, developers desire freedom in designing to solve complex tasks, analysis tools require the design to be formal enough for analysis and synthesis need to be efficient for low run-time footprint. We have considered industrial requirements for these activities and developed the RubusCMv3 component model. The model has been developed in close cooperation with industrial partners and it is currently being evaluated on real systems.
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| 12. |
- Lawson, Harold, et al.
(författare)
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Provisioning of Deterministic and Non-Deterministic Services for Vehicles: The Rubus Approach
- 2016
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Ingår i: 4th International Workshop on Critical Automotive Applications: Robustness & Safety CARS-2016. - Göteborg, Sweden.
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Konferensbidrag (refereegranskat)abstract
- Providing computer-based services for vehicle functions has evolved to the point where a large majority of functions are realized by software. However, the need to provide safety and security in critical functions such as braking, steering, motor control, etc. requires an approach that can guarantee the continuous reliable operation of the functions. At the same time, there are a variety of functions that are less critical from the vehicle operation perspective that can be provided where safety and security are less critical. From a vehicle manufacturers point of view, providing both types of services in an economic and reliable manner is a real challenge. To meet this challenge, we consider the Rubus Tool Suit for the software development and a well-proven (in industrial use for over twenty years) and certified (according to ISO 26262) operating system Kernel for its execution. In addition, a user-friendly approach to model- and component-based development concept called the “software circuits” has provided an approach to meet the demands of both safety-critical deterministic and as well as non-safety critical non-deterministic services. In this paper, a brief history of the evolution of Rubus approach as well as an overview of the driving concepts used in providing the Rubus products are described.
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| 13. |
- Mubeen, Saad, et al.
(författare)
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Academic-industrial Collaboration in the Vehicle Software Domain: Experiences and End-user Perspective
- 2016
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Ingår i: 4th International Workshop on Critical Automotive Applications. - Göteborg, Sweden.
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a success story of academic-industrial collaboration in the vehicular domain. The collaboration has resulted in the development and evolution of a model- and component-based software development tool chain that is used to develop safety-critical, robust, and certified, control software for vehicles. The tool chain has been successfully used in the vehicle industry for about 20 years. The sustained development of the tool chain is based one a unique collaboration, described in this paper, where the collaborators form a clear value chain from academia, through tool-developer, to the end-users of the technology. We describe experiences of each collaborator with a focus on the end-user's perspective. Moreover, we highlight some ongoing and future works within this collaboration.
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| 14. |
- Mubeen, Saad, et al.
(författare)
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End-to-end Timing Analysis of Black-box Models in Legacy Vehicular Distributed Embedded Systems
- 2015
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Ingår i: 21st IEEE International Conference on Embedded and Real-Time Computing Systems and Applications RTCSA'15. - 9781467378550 ; , s. 149-158
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Konferensbidrag (refereegranskat)abstract
- A majority of existing techniques and tools, used in the vehicular industry, support the extraction of end-to-end timing models. Such models are used to perform timing analysis of distributed embedded systems at an abstraction level that is close to their implementation. This paper takes a first initiative to provide such a support at a higher level of abstraction. At such a level, the system can be modeled with inter-connected black-box models of nodes whose internal software architectures may not be available. However, most of the design decisions about network communication are available. This represents a typical scenario in the vehicular industry where most of the artifacts are reused from either legacy systems, other projects or previous releases of the vehicle. In this paper we present an approach for the extraction of end-to-end timing models at the highest level of abstraction used in the vehicular domain. Using these models, end-to-end path delay analysis of the systems can be performed at a higher abstraction level and at an early phase during the development. As a proof of concept we implement this technique in an industrial tool suite, Rubus-ICE, that is used for the development of these systems by several international companies. Using the extended tool, we conduct a vehicular-application case study.
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| 15. |
- Mubeen, Saad, et al.
(författare)
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Modeling of End-to-end Resource Reservations in Component-based Vehicular Embedded Systems
- 2016
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Ingår i: Software Engineering and Advanced Applications (SEAA), 2016 42th Euromicro Conference on. - 9781509028191 ; , s. 283-292
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Konferensbidrag (refereegranskat)abstract
- There is a plethora of models, techniques and toolsthat support model- and component-based software developmentof vehicular distributed embedded systems. However, a large ma-jority of them have a limited or no support to model and specifyend-to-end resource reservations on the software architecturesof these systems. Resource reservations allow flexibility duringthe development and execution of such complex systems withoutjeopardizing their predictable behavior. As a result, severalapplications in the system that share the same hardware platformcan be developed independently. In this paper we identify severalrequirements that any existing component model should fulfill inorder to support the modeling of end-to-end resource reservationson the software architectures of such systems. As a proof ofconcept, we extend the Rubus Component Model (RCM) byfulfilling these requirements. RCM is used for the development ofcontrol functionality in vehicular embedded systems by severalinternational companies. We also provide a technique to extractexecution models from the software architectures of these systemswith resource reservations. In order to show the usability of ourtechnique, we model a vehicular distributed embedded systemwith the extended component model and extract the executionmodel from the software architecture augmented with end-to-endresource reservations.
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| 16. |
- Mubeen, Saad, et al.
(författare)
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Modeling of Legacy Distributed Embedded Systems at Vehicle Abstraction Level
- 2016
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Ingår i: Proceedings - 2016 19th International ACM SIGSOFT Symposium on Component-Based Software Engineering, CBSE 2016. - 9781509025695 ; , s. 7-12
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Konferensbidrag (refereegranskat)abstract
- A large majority of existing software development approaches in the vehicle industrial domain have a limited or no modeling support to fully reuse legacy nodes at the highest abstraction, called the vehicle level. In this paper, we introduce a new technique for model-and component-based development of vehicular distributed embedded systems at the vehicle level. The proposed technique supports not only modeling of crude nodes or Electronic Control Units but also modeling of legacy nodes whose software architectures can be partially or completely reused. As a proof of concept, we implement the modeling technique in an industrial model, the Rubus Component Model. In order to show the usability of our approach, we model a vehicular application using the extended component model and its tool suite.
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| 17. |
- Mubeen, Saad, et al.
(författare)
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Supporting timing analysis of vehicular embedded systems through the refinement of timing constraints
- 2019
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Ingår i: Software and Systems Modeling. - : Springer Science and Business Media LLC. - 1619-1366 .- 1619-1374. ; 18:1, s. 39-69
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Tidskriftsartikel (refereegranskat)abstract
- The collective use of several models and tools at various abstraction levels and phases during the development of vehicular distributed embedded systems poses many challenges. Within this context, this paper targets the challenges that are concerned with the unambiguous refinement of timing requirements, constraints and other timing information among various abstraction levels. Such information is required by the end-to-end timing analysis engines to provide pre-run-time verification about the predictability of these systems. The paper proposes an approach to represent and refine such information among various abstraction levels. As a proof of concept, the approach provides a representation of the timing information at the higher levels using the models that are developed with EAST-ADL and Timing Augmented Description Language. The approach then refines the timing information for the lower abstraction levels. The approach exploits the Rubus Component Model at the lower level to represent the timing information that cannot be clearly specified at the higher levels, such as trigger paths in distributed chains. A vehicular-application case study is conducted to show the applicability of the proposed approach.
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| 18. |
- Mubeen, Saad, et al.
(författare)
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Automated Model Translations for Vehicular Real-Time Embedded Systems with Preserved Semantics
- 2012
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Konferensbidrag (refereegranskat)abstract
- We are investigating how research oriented and/or standardized component models intended for real-time embedded systems in the segment of construction-equipment vehicles can be used together with the component models actually used in the industry today. Our aim is to provide both a functional description of the system as well as an analyzable and a resource-efficient model. We seek to bridge the semantic gap that exists among models like EAST-ADL, AUTOSAR, SysML, Rubus Component Model (RCM), Simulink, TADL and TIMMO.
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| 19. |
- Mubeen, Saad, et al.
(författare)
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Developing predictable vehicular distributed embedded systems on multi-core
- 2016
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Ingår i: Advances in Intelligent Systems and Computing, Volume 448. - Cham : Springer International Publishing. - 9783319324661 ; , s. 1273-1277
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Konferensbidrag (refereegranskat)abstract
- In this paper we address the challenges related to supporting modeland component-based development of predictable software for vehicular distributed embedded systems, utilizing multi-core platforms. We present a research plan for the development of new methods and techniques to deal with these challenges. The techniques will support various aspects such as modeling of the software architecture; supporting multiple criticality levels; verifying predictability of the system using end-to-end timing analysis; code generation; and providing a predictable runtime support on multi-core platforms by virtualizing a certified single-core real-time operating system. As a proof of concept, we will implement the newly developed techniques in a commercial tool chain (Rubus-ICE). The efficacy of the newly developed techniques and the extended tool chain will be demonstrated on the industrial case studies.
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