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Embedded Systems Lecture Notes

Lecture #1, October 21, 2008

  • Introduction, StateCharts
  • Slides: pdf (updated)
  • References:

    Marwedel, Chapters 1-2.4

    Harel (1987): StateCharts: A visual formalism for complex systems pdf

Lecture #2, October 23, 2008

  • StateCharts semantics, hybrid systems
  • Slides: pdf
  • Reference:

    Harel/Naamad (1996): The STATEMATE semantics of StateCharts pdf

Lecture #3, October 28, 2008

  • MATLAB, Simulink, Stateflow introduction
  • Slides: pdf
  • Damped harmonic oscillator Simulink model

Lecture #4, October 30, 2008

  • MATLAB, Simulink, Stateflow introduction, part 2

    Slides: pdf
  • Introduction to Petri nets

    Slides: pdf

Lecture #5, November 4, 2008

  • Petri nets, part 2
  • Slides (without annotations): pdf (updated)
  • Slides (with annotations): pdf
  • Reference:

    Marwedel, Chapter 2.6

Lecture #6, November 6, 2008

  • Petri nets, part 3
  • Slides (without annotations): pdf (updated)
  • Slides (with annotations): pdf (updated)
  • Reference:

    Peter H. Starke (1990): Analyse von Petri-Netz-Modellen (Teubner Verlag)

    (available in the Semesterapparat in the library.)

Lecture #7, November 11, 2008

  • Kahn process networks, SDF
  • Slides (without annotations): pdf
  • Slides (with annotations): pdf
  • References:

    Marwedel, Chapters 2.9.1, 2.9.2

    Kahn (1974): The semantics of a simple language for parallel programming pdf

    Lee/Messerschmitt (1987): Synchronous data flow pdf

    Visualization tool by Birgit Sirocic, Universität Dortmund.

Lecture #8, November 13, 2008

  • Message Sequence Charts
  • Slides (without annotations): pdf
  • Slides (with annotations): pdf
  • References:

    Marwedel, Chapter 2.7

    Harel/Thiagarajan (2003): Message Sequence Charts pdf

Lecture #9, November 18, 2008

  • VHDL
  • Slides (without annotations): pdf
  • Slides (with annotations): pdf
  • References:
    Marwedel, Chapter 2.11
    Peter J. Ashenden (2002): The Designer’s Guide to VHDL
    (available in the Semesterapparat in the library.)

Lecture #10, November 20, 2008

Lecture #11, November 25, 2008

  • Embedded system hardware
  • Slides (without annotations): pdf
  • Slides (with annotations): pdf
  • Simulation of a sigma-delta A/D converter: link.
  • Reference:

    Marwedel, Chapters 3.1,3.2,3.4.1-3.4.3,3.6

Lecture #12, November 27, 2008

  • Embedded system hardware, part 2
  • Slides: pdf
  • References:

    Marwedel, Chapter 3

    Hermann Kopetz (1997): Real-Time Systems. Design Principles for Distributed Embedded Applications, Chapter 7 – Real-Time Communication. (available in the Semesterapparat in the library.)

Lecture #13, December 2, 2008

  • FlexRay
  • Slides: pdf

Lecture #14, December 4, 2008

  • Aperiodic scheduling
  • Slides (without annotations): pdf
  • Slides (with annotations): pdf
  • References:

    Marwedel, Chapter 4.2.2

    Giorgio Buttazzo (2004): Hard Real-Time Computing, Chapter 3 – Aperiodic Task Scheduling (available in the Semesterapparat in the library.)

Lecture #15, December 9, 2008

  • Periodic scheduling, part 1
  • Slides (without annotations): pdf
  • Slides (with annotations): pdf
  • References:

    Marwedel, Chapter 4.2.3

    Buttazzo, Chapter 4

Lecture #16, December 11, 2008

  • Periodic scheduling, part 2
  • Slides (without annotations): pdf
  • Slides (with annotations): pdf
  • References:

    Marwedel, Chapter 4.2.4

    Buttazzo, Chapter 4.3, Chapter 7

Lecture #17, December 16, 2008

  • Midterm review
  • Slides: pdf

Lecture #18, January 6, 2009

  • Multiprocessor scheduling
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf
  • Reference:

    Dertouzos/Moc (1989): Multiprocessor On-Line Scheduling of Hard-Real-Time Tasks pdf

Lecture #19, January 8, 2009

  • Key Trends in Automotive System Development
  • Guest lecture by Werner Damm, Carl von Ossietzky University Oldenburg
  • Slides: pdf
  • The lecture starts by highlighting key concepts of the Autosar approach to automotive developments. It then identifies additional needs to adress both real-time and safety aspects, and proposes solutions based on the Rich Components approach currently developed in the integrated project Speeds.

Lecture #20, January 13, 2009

  • Multiprocessor scheduling, part 2
  • Partitioning
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf
  • Reference:

    Lee/Cheng (1994): Multiprocessor Scheduling of Hard-Real-Time Tasks with Task Migration Constraints ps

Lecture #21, January 15, 2009

  • Partitioning, part 2
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf
  • References:

    Kernighan/Lin (1970): An Efficient Heuristic Procedure for Partitioning Graphs pdf

    Fiduccia/Mattheyses (1982): A Linear-Time Heuristic for Improving Network Partitions pdf

Lecture #22, January 20, 2009

  • Timing Analysis
  • Guest lecture by Reinhard Wilhelm
  • Slides (6 slides per page): pdf
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf
  • Old version of the slides with printer-friendly white background: pdf

Lecture #23, January 22, 2009

  • Real-Time Calculus
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf
  • Matlab toolbox: link
  • References:

    Wandeler/Thiele/Verhoef/Lieverse (2006): System architecture evaluation using modular performance analysis: a case study pdf

    The Real-Time Calculus is also described in the new edition (2007) of Marwedel’s book (Section 6.5).

Lecture #24, January 27, 2009

  • Fault Tolerance
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf
  • Reference:

    Lamport/Shostak/Pease (1982): The Byzantine Generals Problem pdf

Lecture #25, January 29, 2009

  • Fault Tree Analysis
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf
  • Reference:

    Vesely (2002): Fault Tree Handbook with Aerospace Applications pdf

Lecture #26, February 3, 2009

  • Testing
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf
  • Reference:

    Bushnell/Agrawal (2005): Essentials of Electronic Testing for Digital, Memory and Mixed-Signal VLSI Circuits link

Lecture #27, February 5, 2009

  • Formal Methods
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf
  • Slides (1 slide per page / printer friendly version): pdf
  • References:

    Lecture notes on Verification link

    Lecture notes on Automata, Games, and Verification link

Lecture #28, February 10, 2009

  • Summary
  • Slides (2 slides per page): pdf
  • Slides (1 slide per page): pdf

Slides include material by Martin Fränzle (Oldenburg), Peter Marwedel (Dortmund), and Christoph Scholl (Freiburg).