CERBERO: Cross-layer modEl-based fRamework for multi-oBjective dEsign of reconfigurable systems in unceRtain hybRid envirOnments

Palumbo, Francesca; Fanni, Tiziana; Sau, Carlo; Pulina, Luca; Raffo, Luigi; Masin, Michael; Shindin, Evgeny; Rojas, Pablo; Desnos, Karol; Pelcat, Maxime; Rodríguez, Alonso Mateos; Juárez, E.; Regazzoni, Francesco; Meloni, Giuseppe; Zedda, Katiuscia; Myrhaug, Hans; Kaliciak, Leszek; Andriaanse, Joost; Filho, Julio de Olivieria; Muñoz, Pablo; Toffetti, Antonella

doi:10.1145/3310273.3323436

Cited by 6 publications

(4 citation statements)

References 15 publications

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“…Dr. Francesca Palumbo is grateful to the University of Sassari that supported her studies on MDC related activities through the "fondo di Ateneo per la ricerca 2019" and to the Comp4Drones project (No 826610, ECSEL-JU 2018) that will continue to found them in the next years. Moreover, all the MDC activities in both involved universities have been carried out so far as part of the FitOptiVis project [79], funded by the ECSEL Joint Undertaking under grant number H2020-ECSEL-2017-2-783162, and of the CERBERO H2020 project [80,78], funded by European Union under grant number No 732105. MDC is also part of technology transfer activities carried out by the University of Sassari within the the PROSSIMO project (POR FESR 2014/20-ASSE I), for which the authors would like to thanks the Sardinian Regional Government.…”

Section: Acknowledgmentsmentioning

confidence: 99%

The Multi-Dataflow Composer tool: An open-source tool suite for optimized coarse-grain reconfigurable hardware accelerators and platform design

Fanni

Rubattu

et al. 2021

Microprocessors and Microsystems

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Modern embedded and cyber-physical systems require every day more performance, power efficiency and flexibility, to execute several profiles and functionalities targeting the ever growing adaptivity needs and preserving execution efficiency. Such requirements pushed designers towards the adoption of heterogeneous and reconfigurable substrates, which development and management is not that straightforward. Despite acceleration and flexibility are desirable in many domains, the barrier of hardware deployment and operation is still there since specific advanced expertise and skills are needed. Related challenges are effectively tackled by leveraging on automation strategies that in some cases, as in the proposed work, exploit model-based approaches. This paper is focused on the Multi-Dataflow Composer (MDC) tool, that intends to solve issues related to design, optimization and operation of coarse-grain reconfigurable hardware accelerators and their easy adoption in modern heterogeneous substrates. MDC latest features and improvements are introduced in detail and have been assessed on the so far unexplored robotics application field. A multi-profile trajectory generator for a robotic arm is implemented over a Xilinx FPGA board to show in which cases coarse-grain reconfiguration can be applied and which can be the parameters and trade-offs MDC will allow users to play with.

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Section: Acknowledgmentsmentioning

confidence: 99%

The Multi-Dataflow Composer tool: An open-source tool suite for optimized coarse-grain reconfigurable hardware accelerators and platform design

Fanni

Rubattu

et al. 2021

Microprocessors and Microsystems

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“…In this work, we have adopted a singularity-free workspace defined by the Thales Alenia Space company for the chosen type of manipulator and made available as an open-data [15] of the CERBERO project [8]. The workspace is limited to a safe area of operation specified in cylindrical coordinates (see Equations 1, 2 and 3).…”

Section: B Workpace Tasks and Requirementsmentioning

confidence: 99%

“…In general, the research activity in this context is flourishing [2]- [8]. In the H2020 CERBERO 1 European Project [8] we worked on providing a continuous design environment for CPSs that, at computational level, relies on many tools for FPGA-based CPSs, which have been accessed during the project time-frame on a Planetary Exploration use-case [9]. An adaptive embedded controller for a robotic manipulator has been implemented over an FPGA.…”

Section: Introductionmentioning

confidence: 99%

Feasibility Study and Porting of the Damped Least Square Algorithm on FPGA

Fanni

Rubattu

et al. 2020

IEEE Access

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Modern embedded computing platforms used within Cyber-Physical Systems (CPS) are nowadays leveraging more and more often on heterogeneous computing substrates, such as newest Field Programmable Gate Array (FPGA) devices. Compared to general purpose platforms, which have a fixed datapath, FPGAs provide designers the possibility of customizing part of the computing infrastructure, to better shape the execution on the application needs/features, and offer high efficiency in terms of timing and power performance, while naturally featuring parallelism. In the context of FPGA-based CPSs, this paper has a two fold mission. On the one hand, it presents an analysis of the Damped Least Square (DLS) algorithm for a perspective hardware implementation. On the other hand, it describes the implementation of a robotic arm controller based on the DLS to numerically solve Inverse Kinematics problems over a heterogeneous FPGA. Assessments involve a Trossen Robotics WidowX robotic arm controlled by a Digilent ZedBoard provided with a Xilinx Zynq FPGA that computes the Inverse Kinematic.

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“…Since the 90's, formal methods have been exploited to improve complex automation systems (see, e.g., [3]), and currently they are often introduced in the verification of CPSs' applications. Nowadays, it is well-established that the usage of formal methods has a great potential in reinforcing safety in the design of (critical) CPSs -see, e.g., the results obtained in the context of the CERBERO EU H2020 project [4], [5] about the application of formal methods in the design of CPSs [6]- [8].…”

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confidence: 99%

SMT-Based Consistency Checking of Configuration-Based Components Specifications

2021

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Cyber-Physical Systems (CPSs) are engineered systems that are built from, and depend upon, the seamless integration of computational algorithms and physical components. CPSs are widely used in many safetycritical domains, making it crucial to ensure that they operate safely without causing harm to people and the environment. Therefore, their design should be robust enough to deal with unexpected conditions and flexible to answer to the high scalability and complexity of systems. Nowadays, it is well-established that formal verification has a great potential in reinforcing safety of critical systems, but nevertheless its application in the development of industrial products may still be a challenging activity. In this paper, we describe an approach based on Satisfiability Modulo Theories (SMT) to formally verify, at the design stage, the consistency of the system design -expressed in a given domain-specific language, called QRML, which is specifically designed for CPSs -with respect to some given property constraints, with the purpose to reduce inconsistencies during the system development process. To this end, we propose an SMT-based approach for checking the consistency of configuration based-components specifications and we report the results of the experimental analysis using three different state-of-the-art SMT solvers. The main goal of the experimental analysis is to test the scalability of the selected SMT solvers and thus to determine which SMT solver is the best in checking the satisfiability of the properties. INDEX TERMS Design verification, Application of formal methods, Satisfiability Modulo Theories I. INTRODUCTIONCyber-Physical Systems (CPSs) are real-time embedded systems in which the software controllers continuously interact with physical environments, possibly with humans in the loop. These systems are often distributed with sensors and actuators, which monitor and control physical processes, usually with feedback loops where physical processes affect computations and vice-versa [1]. Recently, CPSs are gathering momentum and attracting massive attention from the research communities and large investment from industry [2]. The emerging applications of CPSs can be found in a number of large-scale and safety-critical domains, making it crucial to ensure that they operate safely without causing harm to people and the environment. Application areas include healthcare, automotive, manufacturing, industry automation, and critical infrastructure such as, electric power, energy, and water resources, so CPSs design should be robust enough to deal with unexpected conditions and, at the same time, flexible to answer to the high scalability and complexity of systems. Due to the critical nature of their applications and the tight time-to-market constraints, the verification of the CPSs design becomes an important issue in order to ensure the correctness of these systems.

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CERBERO: Cross-layer modEl-based fRamework for multi-oBjective dEsign of reconfigurable systems in unceRtain hybRid envirOnments

Cited by 6 publications

References 15 publications

The Multi-Dataflow Composer tool: An open-source tool suite for optimized coarse-grain reconfigurable hardware accelerators and platform design

The Multi-Dataflow Composer tool: An open-source tool suite for optimized coarse-grain reconfigurable hardware accelerators and platform design

Feasibility Study and Porting of the Damped Least Square Algorithm on FPGA

SMT-Based Consistency Checking of Configuration-Based Components Specifications

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