Design of Embedded Systems (DES)

Info Autumn 2020

General aim of this course is to acquire basic knowledge about the systematic design of embedded systems and to obtain practical experience with model-based development of such systems. Relevant topics are, for instance, timing, real-time operating systems (and experience with Real-Time Linux), scheduling, interface of software with sensors and actuators, and model-based development of a small distributed real-time application using a Domain Specific Language.

General outline: The course will consist of two main parts (in both parts, students work in groups of two):

• General introduction on embedded systems and scheduling theory. Analysis of small scheduling examples and practical experience by exercises with real-time linux (Xenomai) on a Raspberry Pi.
• Development of a small real-time system using Domain Specific Languages. Case studies will use a small Lego EV3 Rover and a larger "Mars Rover" which has to accomplish several missions.

Raspberry Pi with breadboard

Small Lego EV3 Rover

Lego EV3 Mars Rover

• Programming Lego EV3 bricks using ev3dev.
  • Using Python
  • Info and examples
  • Commands for communication with EV3 brick
  • API of 2.0.0 beta5 version of ev3dev2
  • Documentation of ev3dev2
• Short information on Linux and Real-time Linux.
• Manuals and publications on Domain Specific Languages.
• Xenomai: see the Xenomai page of the Lab web site.
• Rate Monotonic Analysis: A brief history and references can be found in a short historical overview.
• Priority inversion: To find out "What really happened on Mars", see mails of Mike Jones and Glen Reeves
• Subsumption architecture: Paper by Rodney Brooks A Robust Layered Control System For A Mobile Robot