The document summarizes Aneta Vulgarakis's doctoral thesis presentation on developing a resource-aware framework for designing predictable component-based embedded systems. The framework includes (1) the formally specified ProCom component model that considers resource constraints from the start and (2) the REMES behavioral language for describing components' functional and extra-functional behavior along with associated analysis techniques. The presentation covers the background and motivation, research description including the problem statement and goals, research results relating to ProCom and REMES, and plans for future work.

1. Aneta Vulgarakis
A Resource-Aware Framework
for Designing Predictable
Component-Based Embedded
Systems
Doctoral Thesis Presentation
Aneta Vulgarakis
1
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
2012-06-15

2. Aneta Vulgarakis
 Background and Motivation
 Research Description
 Problem Statement
 Research Goals
 Research Results
 Summary
 Relating Research Goals and Research Results
 Future Work
2
Outline
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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3. Aneta Vulgarakis 3
Background and Motivation
 Embedded systems
 “Computer that does not look like computer”
 Part of a larger system or machine
 Typical requirements
 Low cost
 Constantly react to changes in the environment
 Dependability
 Compute certain results in real-time without delay
 Limited available resources
 Manage the growing complexity of software
 Need for solutions that
 Alleviate software complexity
 Ensure predictable system behavior
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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4. Aneta Vulgarakis 4
Background and Motivation
 Resource-aware embedded system modeling and
analysis perspective
 Consider from the start of the development the resource constraints
imposed by the underlying platform
 Component Based Development
 Constructs systems by reusing existing components
 Promising approach to handle software complexity
 The structure and abstractions introduced by components contribute
to the construction of abstract formal models
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5. Aneta Vulgarakis 5
Background and Motivation
 Formal analysis
 Suitable solution to guarantee the correctness and
reliability of software systems
 Rigorously exploring the correctness of system designs
expressed as abstract mathematical models, typically with
the assistance of a computer
 “yes/no” answers – properties that cannot be measured
 answers in form of numbers
 Best known formal analysis methods
 Theorem proving
 Model-checking
Theorem Proving and Model Checking – Joe Hurd – p.2/15
 
A Resource-Aware Framework for Designing Predictable
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 Our Research Problem:
develop a resource-aware design framework
encompassing modeling and formal
analysis of component-based embedded
systems
Problem Statement
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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7. Aneta Vulgarakis 7
 Develop a formal description of a component model for real-time embedded
systems.
(G1)
 Develop a behavioral language and associated tool support for modeling and
formal analysis of functional, timing, and resource-wise behavior of components
and their compositions.
(G2)
 Exercise the applicability of the proposed design framework by modeling and
analyzing example embedded systems that are motivated by reality
(G3)
Research Goals
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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8. Aneta Vulgarakis 8
 The resource-aware framework includes two parts:
 The formally specified ProCom component model that
fullfills the requirements coming from control-intensive ES
 The REMES behavioral language for describing component’s
and system’s functional and extra-functional behavior,
associated analysis techniques for various resource-wise
properties, and a set of tools implementing the former and
the latter.
Research Results
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 Journals
 Paper A. “A Resource-Oriented Modeling and Formal Analysis of Embedded Systems Behavior.”
Marin Orlić, Aneta Vulgarakis, Cristina Seceleanu and Paul Pettersson. Submitted to IEEE Transactions
on Software Engineering
 Paper B. ”A Classification Framework for Component Models”. Ivica Crnković, Séverine Sentilles,
Aneta Vulgarakis and Michel Chaudron. IEEE Transactions on Software Engineering, October, 2011
 Licentiate thesis
 ”A Resource-Aware Component Model for Embedded Systems” Aneta Vulgarakis, Licentiate Thesis,
Mälardalen University Press, September, 2009
 Conferences and workshops
 Paper C. “Validation of Extra-Functional Behavioral Models on a Component-Based Ericsson Nikola
Tesla Demonstrator” , Aneta Vulgarakis , Cristina Seceleanu, Paul Petterson, Ivan Skuliber, and Darko
Huljenić. 11th International Conference on Quality Software, IEEE, Madrid, Spain, July, 2011.
 Paper D. “Integrating Behavioral Descriptions into a Component Model for Embedded Systems”,
Aneta Vulgarakis, Séverine Sentilles, Jan Carlson, Cristina Seceleanu, 36th Euromicro Conference on
Software Engineering and Advanced Applications, IEEE, Lille, France, September, 2010
 Paper E. “REMES Tool-chain - A Set of Integrated Tools for Behavioral Modeling and Analysis of
Embedded Systems”, Dinko Ivanov, Marin Orlić, Cristina Seceleanu, Aneta Vulgarakis, Proceedings of
the 25th IEEE/ACM International Conference on Automated Software Engineering (ASE 2010), Antwerp,
Belgium, September, 2010
Publications Fundamental for the Thesis
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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 Paper F. “Formal Semantics of the ProCom Real-Time Component Model”. Aneta Vulgarakis,
Jagadish Suryadevara, Jan Carlson, Cristina Seceleanu and Paul Pettersson. Proceedings of 35th
Euromicro Conference on Software Engineering and Advanced Applications (SEAA), Patras, Greece,
August, 2009.
 Paper G. ”REMES: A Resource Model for Embedded Systems”. Cristina Seceleanu, Aneta Vulgarakis
and Paul Pettersson. Proceedings of 14th
IEEE International Conference on Engineering of Complex
Computer Systems (ICECCS), Potsdam, Germany, June, 2009
 Paper H. ”A Component Model for Control-Intensive Distributed Embedded Systems”. Séverine
Sentilles, Aneta Vulgarakis, Tomáš Bureš, Jan Carlson, Ivica Crnković. Proceedings of the 11th
International Symposium on Component-Based Software Engineering (CBSE2008), Karlsruhe, Germany,
October, 2008.
 Paper I. ”Embedded Systems Resources: Views on Modeling and Analysis”. Aneta Vulgarakis, Cristina
Seceleanu. Proceedings of COMPSAC, the 1st IEEE International Workshop On Component-Based
Design Of Resource-Constrained Systems Software and Applications Conference (CORCS), Turku,
Finland, July, 2008.
Publications Fundamental for the Thesis
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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11. Aneta Vulgarakis 11
 Journals
 “Applying Remes Behavioral Modeling to PLC Systems” Aneta Vulgarakis and Aida Čausević.
Mechatronic Systems, vol 1, nr 1, p40-49, Faculty Of Electrical Engineering, University Sarajevo,
December, 2009.
 Conferences and workshops
 “Classification and Survey of Component Models ” Ivica Crnković, Aneta Vulgarakis, Mario Žagar, Ana
Petričić, Juraj Feljan, Luka Lednicki, and Josip Maras. DICES workshop at the International Conference
on Software Telecommunications and Computer Networks, Bol, Croatia, September 2010.
 “Towards Simulative Environment for Early Development of Component-Based Embedded Systems”
Marin Orlić, Aneta Vulgarakis, and Mario Žagar. 15th International Workshop on Component-Oriented
Programming , Prague, Czech Republic, June, 2010.
 “Applying Remes Behavioral Modeling to PLC Systems” Aneta Vulgarakis and Aida Čausević. 22nd
International Symposium on Information, Communication and Automation Technologies, IEEE,
Sarajevo, Bosnia Herzegovina, October 2009.
 “Towards a Resource-Aware Component Model for Embedded Systems” Aneta Vulgarakis. Doctoral
Symposium of 33rd Annual IEEE International Computer Software and Applications Conference, IEEE,
Seattle, Washington, July, 2009
 “A Component Model Family for Vehicular Embedded Systems ” Tomáš Bureš, Jan Carlson, Séverine
Sentilles, and Aneta Vulgarakis. 3rd International Conference on Software Engineering Advances, IEEE,
Sliema, Malta, October 2008.
 “A Classification Framework for Component Models ” Ivica Crnković, Michel Chaudron, Séverine
Sentilles, and Aneta Vulgarakis. 7th Conference on Software Engineering and Practice in Sweden,
G¨oteborg, Sweden, October 2007.
Publications Related to the Thesis
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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12. Aneta Vulgarakis 12
 Conferences and workshops
 “A Model-Based Framework for Designing Embedded Real-Time Systems” Séverine Sentilles, Aneta
Vulgarakis, and Ivica Crnković. Work-In-Progress track of the 19th Euromicro Conference on Real-Time
Systems, Pisa, Italy, July 2007.
 Technical reports
 “Connecting ProCom and REMES ” Aneta Vulgarakis, Séverine Sentilles, Jan Carlson, and Cristina
Seceleanu. MRTC report ISSN 1404-3041 ISRN MDH-MRTC-244/2010-1-SE, Mälardalen Real- Time
Research Centre, M¨alardalen University, May, 2010.
 “ProCom: Formal Semantics ” Jagadish Suryadevara, Aneta Vulgarakis, Jan Carlson, Cristina Seceleanu,
and Paul Pettersson. MRTC report ISSN 1404-3041 ISRN MDH-MRTC-234/2009-1-SE, Mälardalen Real-
Time Research Centre, Mälardalen University, March, 2009.
 “Remes: A Resource Model for Embedded Systems ” Cristina Seceleanu, Aneta Vulgarakis, and Paul
Pettersson. MRTC report ISSN 1404-3041 ISRN MDH-MRTC-232/2008-1-SE, Mälardalen Real-Time
Research Centre, Mälardalen University, October, 2008.
 “ ProCom – the Progress Component Model Reference Manual - version 1.0 ” Tomáš Bureš, Jan
Carlson, Ivica Crnković, Séverine Sentilles, and Aneta Vulgarakis. MRTC report ISSN 1404-3041 ISRN
MDH-MRTC-230/2008-1-SE,M¨alardalen Real-Time Research Centre, Mälardalen University, June 2008.
 “Towards Component Modelling of Embedded Systems in the Vehicular Domain” Tomáš Bureš, Jan
Carlson, Séverine Sentilles, and Aneta Vulgarakis. MRTC report ISSN 1404-3041 ISRN MDHMRTC
226/2008-1-SE, Mälardalen Real-Time Research Centre, Mälardalen University, April 2008.
 “Progress Component Model Reference Manual - version 0.5” Tomáš Bureš, Jan Carlson, Ivica
Crnković, Séverine Sentilles, and Aneta Vulgarakis. MRTC report ISSN 1404-3041 ISRN MDH-MRTC
225/2008-1-SE, Mälardalen Real-Time Research Centre, Mälardalen University, April 2008.
Publications Related to the Thesis
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Component-Based Embedded Systems
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13. Aneta Vulgarakis
The formally specified ProCom
component model
13
Research Results
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14. Aneta Vulgarakis 14
 Complexity
 HW influence
 Safety-criticality
 Real-time demands
 Resource limitations
(memory, bandwidth,
power…)
 Distribution
 Complexity
 HW influence
 Safety-criticality
 Real-time demands
 Resource limitations
(memory, bandwidth,
power…)
 Distribution
Main domain concerns
of Embedded Systems
Main domain concerns
of Embedded Systems
 Manage complexity
 Manage the strong
coupling between the
system and the targeted
platform
 Deal with different types
of components (size,
functionality and
semantics)
 Utilize resources
efficiently
 Predictability
 Distribution
 Manage complexity
 Manage the strong
coupling between the
system and the targeted
platform
 Deal with different types
of components (size,
functionality and
semantics)
 Utilize resources
efficiently
 Predictability
 Distribution
Requirements placed on a
component model
Requirements placed on a
component model
Research Results
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15. Aneta Vulgarakis 15
ProCom – a two-layered component model
 A subsystem can internally be modelled by ProSave. A subsystem can internally be modelled by ProSave.
Connection between the layers
ProSys (upper layer)
 Subsystem components
 Active, distributed
 Asynchronous message passing
 Hierarchical
 Subsystem components
 Active, distributed
 Asynchronous message passing
 Hierarchical
ProSave (lower layer)
 "Function block" components
 Passive, non-distributed
 Explicit transfer of data and control
 Hierarchical
 "Function block" components
 Passive, non-distributed
 Explicit transfer of data and control
 Hierarchical
Research Results
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
Drill
Drill
sensors
Drill
control
Drill
motors
Clamp Drill
Driller
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16. Aneta Vulgarakis
 ProCom imposes restrictions on the behavior of its constructs, which
should be formally defined, in order to achieve predictable behavior.
 For example, all the data must arrive to its end destinations before the
trigger signal.
16
Research Results
ProCom – formal semantics
A
B
C
Data
fork
A Resource-Aware Framework for Designing Predictable
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…
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17. Aneta Vulgarakis 17
ProCom – formal semantics
 FSM-like formalism with notions of urgency, implicit
timing and priorities
 Semantics of each ProCom element is defined in the FSM language
 Semantics of a ProCom system = parallel composition of FSMs
Research Results
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18. Aneta Vulgarakis
Formalization of data/trigger connection
To ensure that the data is transferred prior to trigger, the data transitions in
the FSM formalism are associated with priority.
18
ProCom – formal semantics
Research Results
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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19. Aneta Vulgarakis
The REMES behavioral language and
associated analysis techniques
19
Research Results
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REMES - REsource Model for Embedded Systems
 Behavioral model that describes functional, timing and
resource-wise behavior of interacting embedded components
 Based on the Charon modeling language (Alur et al. 2003)
 Particularities
 Resources as primitive types
 resource consumption annotated with c
 Behavior of a component is a mode
 Composition of modes
 sequential
 parallel
 parallel with a synchronization protocol
Research Results
Resource Class Characteristics
A
(memory)
discrete
Referable
B
(CPU, bandwidth)
discrete
non-referable
C
(CPU, energy)
continuous
non-referable
},{, +∞−∞−∈= Znnc
∞== corc  0
∞== corc  0
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 Composite mode M (SM, V, In, Out, E, RC, Inv, CC)
 Control points In: (Init point, Entry point), Out: (Write point, Exit point)
 Variables (V) (boolean, natural, integer, array, resource, clock, string, list)
 global
 interface
 local
 Actions over edges (E)
 discrete (guard, body)
 delay/timed
 Constraints
 set of invariants (Inv)
 set of res. diff equations (RC)
 Conditional connectors (CC)
 Nested submodes (SM)
MMM WrRdG ∪=
ML
MM GI ⊆
Page 21,
C
M
submode1 submode2
submode3
Entry Point
Init Point
Exit Point
Write Point
Research Results
Inv1
RC1
(guard, body)
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Illustrative example
Research Results
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Analysing REMES based ES
 REMES modes have access to set of resources R1,…, Rn
 Goal
 Analyze various scenarios of system’s resource
usage
 Analysis model for REMES
 rtot total accumulated resource consumption for R1,
…, Rn
 r1,…, rn accumulated consumption of R1,…, Rn
 w1,…, wn relative importance of r1,…, rn
nndeftot rwrwrwr ∗++∗+∗= 2211
Research Results
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24. Aneta Vulgarakis 07/28/16 24
 Translating REMES into Priced timed automata or
Multi Priced timed automata PTA
 TA + costs on locations and edges
 REMES atomic submode  PTA location(s)
 REMES edge  PTA edge
 REMES discrete step  PTA transition
 REMES conditional connectors are removed
 Automated translation
Page 24,
Analysing REMES based ES
Research Results
nn cwcwcwcost ∗++∗+∗= 2211
24
nndeftot rwrwrwr ∗++∗+∗= 2211

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25. Aneta Vulgarakis 25
Research Results
 PTA waits in location Start for
system startup
 Init, Entry, Write and Exit
locations created
 Transformation of Submode2
 Internal execution rounds - PTA
edge connecting locations Write
and Submode1
 Synchronization with other
components
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26. Aneta Vulgarakis
 Types of analysis
 Feasibility
 are the accumulated values of consumed resources within the provided
resource amounts?
 For example, weak feasibility
 Optimal/ worst-case resource consumption
 compute the trace with minimum/maximum cost for reaching some
location
 minimizing/maximizing the cost function
 Trade-off analysis
 more than one property to satisfy simultaneously
 minimize a primary cost, while imposing an upper bound on secondary
cost
 We perform weak feasibility and min resource
consumption reachability
26
Research Results
Analysing REMES based ES
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
vEF nt≤cos
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27. Aneta Vulgarakis 27
Model Checker
(Uppaal Cora)
PTA model from
REMES transformation
resource-aware property
error trace
yes
Assumptions from
hardware abstraction:
Memory budget, Bandwidth, Cost model
Analysing REMES based ES
vEF nt≤cos
Research Results
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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28. Aneta Vulgarakis
Integrating ProCom and REMES
28
Research Results
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Research Results
Integrating ProCom and REMES
ProCom component
REMES model of
component behavior
Attribute Framework
 Managing and integrating properties
 Each ProCom component has an attribute with a complex value:
 Reference to a REMES model file
 Reference to a mapping file between ProCom and REMES interfaces
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30. Aneta Vulgarakis 30
 ProSave level
 Trigger port  REMES interface boolean variable
 Data port  REMES interface data variable
 ProSys level
 Input message port  REMES read boolean variable
and REMES read data variable
 Output message port  REMES write boolean variable
and REMES write data variable
of same type as the port type
Integrating ProCom and REMES
Research Results
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
ProSys port REMES variables
A1 bool A1 and float A1_value
A2 bool A2
A3 bool A3 and int A3_value
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31. Aneta Vulgarakis
The REMES tool-chain
31
Research Results
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The REMES Tool-chain
Research Results
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Component-Based Embedded Systems
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The REMES Tool-chain
Research Results
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Component-Based Embedded Systems
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The REMES Tool-chain
Research Results
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Component-Based Embedded Systems
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35. Aneta Vulgarakis
Validating the proposed
resource-aware framework
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Research Results
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36. Aneta Vulgarakis
 The resource-aware framework has been applied to
 ”Toy-examples”
 stability control system – exemplifies the ProCom component model
 temperature control system – integration of ProSave and REMES, and
formal behavior analysis
 turntable drilling system – integration of ProSys and REMES, and formal
behavior analysis
 Real-world industrial case study
 study the applicability of our framework
 validate our framework under approved assumptions
36
Research Results
Validation
A Resource-Aware Framework for Designing Predictable
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 Ericsson Nikola Tesla (ENT) demonstrator is a proof-of-concept solution
showing that horizontal development can be used for creating parts of a
telecommunication system.
 ENT deployment architecture consists of two parts:
 Basic service (legacy system)
 Call control
 Extension service (open source software)
 Clients cluster
– Load balancer (PEN)
– DIAMETER clients
 Servers cluster
– Load balancer (DIAMETER relay)
– DIAMETER servers
37
Validation of the resource-aware framework on an Ericsson Nikola Tesla demonstrator
Research Results
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Component-Based Embedded Systems
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Ericsson Nikola Tesla demonstrator
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 Architectural modeling of the ENT demonstrator in ProCom
 Behavioral modeling in REMES
 Formal analysis
 Timing
 Resource consumption (cpu and memory)
 Round-robin protocol for serving requests
Validation of the resource-aware framework on an Ericsson Nikola Tesla demonstrator
Research Results
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Research Results
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 Formal analysis goals and results
 Behavioral model validation and verification
 Performance – Is the end-to-end response time for 500 AAA requests less
or at most 5 sec
 assumption on the linear response time increase per burst of requests
(500)
 by model-checking derived a number for processing 500 request – 1710
time units that is just slightly higher than the measured value – 1690 ms
 Computing an optimal execution trace for the overall consumption
of resources (CPU and memory)
 Of course absence of deadlocks 
 Possibility for performing various types of analysis prior to
implementation
Research Results
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42. Aneta Vulgarakis 42
 A formally specified two-layered ProCom component model for
design of control-intensive ES
 Addresses quality attributes, resource consumption and distribution more
systematically than existing component models targeting embedded systems
 An unambiguous and compact description of the modeling elements of ProCom based
on an extension of FSM
 REMES behavioral language for unified modeling and formal analysis
of functional, timing and resource-wise behavior of ES
 Performing resource-wise analysis
 Method for encoding the resource-wise analysis problem as a weighted sum in which
the variables capture the accumulated consumption of resources, respectively.
 ProCom and REMES integration
 Proposed a way of mapping the ProCom component interface onto the variables of
REMES modes
 The REMES tool-chain
 An IDE for construction and analysis of REMES-based systems
 Exercised the applicability of the proposed resource-aware framework
Summary of contributions
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
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43. Aneta Vulgarakis 43
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
Relating Research Goals and Research Results
RG1.
Develop a formal description of a
component model for real-time
embedded systems.
The formally specified
ProCom component model
RG2.
Develop a behavioral language and
associated tool support for modeling and
formal analysis of functional, timing, and
resource-wise behavior of components
and their compositions.
 The REMES behavioral language
 ProCom and REMES integration
 Performing resource-wise analysis
 The REMES tool-chain
Validating the REMES behavioral
model on the ENT demonstrator
RG3.
Exercise the applicability of the proposed
design framework by modeling and
analyzing example embedded systems
that are motivated by reality.
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44. Aneta Vulgarakis 44
 Extension of REMES to support
 Semantics of a REMES mode other than ”run-to-completion”
 Transformation rules for n levels of hierarchy, n>2
 Compositional reasoning of REMES modes
 Exercise scalability of REMES and associate analysis
techniques
 Investigate further the ENT demonstrator
 Model and verify other protocols for serving requests than round-robin
 Heterogeneous servers
Future work
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45. Aneta Vulgarakis 45
Thank you for your attention!
A Resource-Aware Framework for Designing Predictable
Component-Based Embedded Systems
2012-06-15