Geração automática de código para microcontroladores aplicada a um ambiente de co-projeto de hardware e software

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Evaluating FuncSION: A software for automated synthesis of design solutions for stimulating ideation during mechanical conceptual design

The goal of the work reported in this paper is to use automated, combinatorial synthesis to generate alternative solutions to be used as stimuli by designers for ideation. FuncSION, a computational synthesis tool that can automatically synthesize solution concepts for mechanical devices by combining building blocks from a library, is used for this purpose. The objectives of FuncSION are to help generate a variety of functional requirements for a given problem and a variety of concepts to fulfill these functions. A distinctive feature of FuncSION is its focus on automated generation of spatial configurations, an aspect rarely addressed by other computational synthesis programs. This paper provides an overview of FuncSION in terms of representation of design problems, representation of building blocks, and rules with which building blocks are combined to generate concepts at three levels of abstraction: topological, spatial, and physical. The paper then provides a detailed account of evaluating FuncSION for its effectiveness in providing stimuli for enhanced ideation.

Highway engineering software and source book : a synthesis of software programs available for the Victor 9000 microcomputer.

Mode of access: Internet.

Waveform synthesis using Walsh functions International Journal of Electronics

A software and a microprocessor based hardware for waveform synthesis using Walsh functions are described. The software is based on Walsh function generation using Hadamard matrices and on the truncated Walsh series expansion for the waveform to be synthesized. The hardware employs six microprocessor controlled programmable Walsh function generators (PWFGs) for generating the first six non-vanishing terms of the truncated Walsh series. Improved approximation to a given waveform may be achieved by employing additional PWFGs.

Multithreaded Test Synthesis for Deadlock Detection

Designing and implementing thread-safe multithreaded libraries can be a daunting task as developers of these libraries need to ensure that their implementations are free from concurrency bugs, including deadlocks. The usual practice involves employing software testing and/or dynamic analysis to detect. deadlocks. Their effectiveness is dependent on well-designed multithreaded test cases. Unsurprisingly, developing multithreaded tests is significantly harder than developing sequential tests for obvious reasons. In this paper, we address the problem of automatically synthesizing multithreaded tests that can induce deadlocks. The key insight to our approach is that a subset of the properties observed when a deadlock manifests in a concurrent execution can also be observed in a single threaded execution. We design a novel, automatic, scalable and directed approach that identifies these properties and synthesizes a deadlock revealing multithreaded test. The input to our approach is the library implementation under consideration and the output is a set of deadlock revealing multithreaded tests. We have implemented our approach as part of a tool, named OMEN1. OMEN is able to synthesize multithreaded tests on many multithreaded Java libraries. Applying a dynamic deadlock detector on the execution of the synthesized tests results in the detection of a number of deadlocks, including 35 real deadlocks in classes documented as thread-safe. Moreover, our experimental results show that dynamic analysis on multithreaded tests that are either synthesized randomly or developed by third-party programmers are ineffective in detecting the deadlocks.

Synthesis of Instruction Extensions on HyperCell, a Reconfigurable Datapath

In this paper we present HyperCell as a reconfigurable datapath for Instruction Extensions (IEs). HyperCell comprises an array of compute units laid over a switch network. We present an IE synthesis methodology that enables post-silicon realization of IE datapaths on HyperCell. The synthesis methodology optimally exploits hardware resources in HyperCell to enable software pipelined execution of IEs. Exploitation of temporal reuse of data in HyperCell results in significant reduction of input/output bandwidth requirements of HyperCell.

Design, specification, and synthesis of aircraft electric power systems control logic

Cyber-physical systems integrate computation, networking, and physical processes. Substantial research challenges exist in the design and verification of such large-scale, distributed sensing, ac- tuation, and control systems. Rapidly improving technology and recent advances in control theory, networked systems, and computer science give us the opportunity to drastically improve our approach to integrated flow of information and cooperative behavior. Current systems rely on text-based spec- ifications and manual design. Using new technology advances, we can create easier, more efficient, and cheaper ways of developing these control systems. This thesis will focus on design considera- tions for system topologies, ways to formally and automatically specify requirements, and methods to synthesize reactive control protocols, all within the context of an aircraft electric power system as a representative application area.

This thesis consists of three complementary parts: synthesis, specification, and design. The first section focuses on the synthesis of central and distributed reactive controllers for an aircraft elec- tric power system. This approach incorporates methodologies from computer science and control. The resulting controllers are correct by construction with respect to system requirements, which are formulated using the specification language of linear temporal logic (LTL). The second section addresses how to formally specify requirements and introduces a domain-specific language for electric power systems. A software tool automatically converts high-level requirements into LTL and synthesizes a controller.

The final sections focus on design space exploration. A design methodology is proposed that uses mixed-integer linear programming to obtain candidate topologies, which are then used to synthesize controllers. The discrete-time control logic is then verified in real-time by two methods: hardware and simulation. Finally, the problem of partial observability and dynamic state estimation is ex- plored. Given a set placement of sensors on an electric power system, measurements from these sensors can be used in conjunction with control logic to infer the state of the system.

Formal methods for control synthesis in partially observed environments : application to autonomous robotic manipulation

Modern robots are increasingly expected to function in uncertain and dynamically challenging environments, often in proximity with humans. In addition, wide scale adoption of robots requires on-the-fly adaptability of software for diverse application. These requirements strongly suggest the need to adopt formal representations of high level goals and safety specifications, especially as temporal logic formulas. This approach allows for the use of formal verification techniques for controller synthesis that can give guarantees for safety and performance. Robots operating in unstructured environments also face limited sensing capability. Correctly inferring a robot's progress toward high level goal can be challenging.

This thesis develops new algorithms for synthesizing discrete controllers in partially known environments under specifications represented as linear temporal logic (LTL) formulas. It is inspired by recent developments in finite abstraction techniques for hybrid systems and motion planning problems. The robot and its environment is assumed to have a finite abstraction as a Partially Observable Markov Decision Process (POMDP), which is a powerful model class capable of representing a wide variety of problems. However, synthesizing controllers that satisfy LTL goals over POMDPs is a challenging problem which has received only limited attention.

This thesis proposes tractable, approximate algorithms for the control synthesis problem using Finite State Controllers (FSCs). The use of FSCs to control finite POMDPs allows for the closed system to be analyzed as finite global Markov chain. The thesis explicitly shows how transient and steady state behavior of the global Markov chains can be related to two different criteria with respect to satisfaction of LTL formulas. First, the maximization of the probability of LTL satisfaction is related to an optimization problem over a parametrization of the FSC. Analytic computation of gradients are derived which allows the use of first order optimization techniques.

The second criterion encourages rapid and frequent visits to a restricted set of states over infinite executions. It is formulated as a constrained optimization problem with a discounted long term reward objective by the novel utilization of a fundamental equation for Markov chains - the Poisson equation. A new constrained policy iteration technique is proposed to solve the resulting dynamic program, which also provides a way to escape local maxima.

The algorithms proposed in the thesis are applied to the task planning and execution challenges faced during the DARPA Autonomous Robotic Manipulation - Software challenge.

Distributed Optimal Control of Cyber-Physical Systems: Controller Synthesis, Architecture Design and System Identification

The centralized paradigm of a single controller and a single plant upon which modern control theory is built is no longer applicable to modern cyber-physical systems of interest, such as the power-grid, software defined networks or automated highways systems, as these are all large-scale and spatially distributed. Both the scale and the distributed nature of these systems has motivated the decentralization of control schemes into local sub-controllers that measure, exchange and act on locally available subsets of the globally available system information. This decentralization of control logic leads to different decision makers acting on asymmetric information sets, introduces the need for coordination between them, and perhaps not surprisingly makes the resulting optimal control problem much harder to solve. In fact, shortly after such questions were posed, it was realized that seemingly simple decentralized optimal control problems are computationally intractable to solve, with the Wistenhausen counterexample being a famous instance of this phenomenon. Spurred on by this perhaps discouraging result, a concerted 40 year effort to identify tractable classes of distributed optimal control problems culminated in the notion of quadratic invariance, which loosely states that if sub-controllers can exchange information with each other at least as quickly as the effect of their control actions propagates through the plant, then the resulting distributed optimal control problem admits a convex formulation.

The identification of quadratic invariance as an appropriate means of "convexifying" distributed optimal control problems led to a renewed enthusiasm in the controller synthesis community, resulting in a rich set of results over the past decade. The contributions of this thesis can be seen as being a part of this broader family of results, with a particular focus on closing the gap between theory and practice by relaxing or removing assumptions made in the traditional distributed optimal control framework. Our contributions are to the foundational theory of distributed optimal control, and fall under three broad categories, namely controller synthesis, architecture design and system identification.

We begin by providing two novel controller synthesis algorithms. The first is a solution to the distributed H-infinity optimal control problem subject to delay constraints, and provides the only known exact characterization of delay-constrained distributed controllers satisfying an H-infinity norm bound. The second is an explicit dynamic programming solution to a two player LQR state-feedback problem with varying delays. Accommodating varying delays represents an important first step in combining distributed optimal control theory with the area of Networked Control Systems that considers lossy channels in the feedback loop. Our next set of results are concerned with controller architecture design. When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between them can no longer be taken as given -- indeed the task of designing this architecture is now as important as the design of the control laws themselves. To address this task, we formulate the Regularization for Design (RFD) framework, which is a unifying computationally tractable approach, based on the model matching framework and atomic norm regularization, for the simultaneous co-design of a structured optimal controller and the architecture needed to implement it. Our final result is a contribution to distributed system identification. Traditional system identification techniques such as subspace identification are not computationally scalable, and destroy rather than leverage any a priori information about the system's interconnection structure. We argue that in the context of system identification, an essential building block of any scalable algorithm is the ability to estimate local dynamics within a large interconnected system. To that end we propose a promising heuristic for identifying the dynamics of a subsystem that is still connected to a large system. We exploit the fact that the transfer function of the local dynamics is low-order, but full-rank, while the transfer function of the global dynamics is high-order, but low-rank, to formulate this separation task as a nuclear norm minimization problem. Finally, we conclude with a brief discussion of future research directions, with a particular emphasis on how to incorporate the results of this thesis, and those of optimal control theory in general, into a broader theory of dynamics, control and optimization in layered architectures.

Bibliography of synthesis documents on selected coastal ocean topics

This compilation of references to works which synthesize information on coastal topics is intended to be useful to resource managers in decision making processes. However, the utility must be understand in terms of its limited coverage. The bibliography is not inclusive of all the published materials on the topics selected. Coverage is clearly defined in the following paragraph. The time span of the bibliography is limited to references that were published from I983 to 1993, except for a last-minute addition of a few 1994 publications. All searches were done in mid- to late-1993. The bibliography was compiled from searches done on the following DIALOG electronic databases: Aquatic Sciences and Fisheries Abstracts, BlOSlS Previews, Dissertation Abstracts Online, Life Sciences Collection, NTlS (National Technical lnformation Service), Oceanic Abstracts, Pollution Abstracts, SciSearch, and Water Resources Abstracts. In addition, two NOAA electronic datases were searched: the NOAA Library and lnformation Catalog and the NOAA Sea Grant Depository Database. Synthesis of information is not an ubiquitous term used in database development. In order to locate syntheses of required coastal topics, 89 search terms were used in combinations which required 10 searches from each file. From the nearly 6,000 citations which resulted from the electronic searches, the most appropriate were selected to produce this bibliography. The document was edited and indexed using Wordperfect software. When available, an abstract has been included. Every abstract was edited. The bibliography is subdivided into four main topics or sections: ecosystems, coastal water body conditions, natural disasters, and resource management. In the ecosystems section, emphasis is placed on organisms in their environment on the major coastlines of the U.S. In the second section, coastal water body conditions, the environment itself is emphasized. References were found for the Alaskan coast, but none were found for Hawaii. The third section, on natural disasters, emphasizes environmental impacts resulting from natural phenomena. Guidelines, planning and management reports, modelling documents, strategic and restoration plans, and environmental economics related to sustainability are included in the fourth section, resource management. Author, geographic, and subject indices indices are provided. The authors would like to thank Victor Omelczenko and Terry Seldon of the NOAA Sea Grant Office for access to and training on the NOAA Sea Grant Depository Database. We are grateful also to Dorothy Anderson, Philip Keavey, and Elizabeth Petersen who reviewed the draft document.

Hydrothermal synthesis and crystal structure of a novel compound: [Ni(phen)(3)](2)[(SiMo10V2O40)-O-IV((VO)-O-IV)2]center dot 2H(2)O

A novel compound [Ni(phen)(3)](2)[(SiMo10V1/2O40)-O-V((VO)-O-IV)(2)] . 2H(2)O has been hydrothermally synthesized and structurally characterized by single-crystal X-ray diffraction. The compound crystallizes in the triclinic, system, space group P-1, a = 12.378(4) Angstrom, b = 14.148(5) Angstrom, c = 14.316(2) Angstrom, alpha = 105.91(2)degrees, beta = 95.31(2)degrees, gamma = 96.89(3)degrees, V = 2373.0(12) Angstrom(3), Z = 1, (lambdaMo(Kalpha)) = 0.71073 Angstrom, R1 (wR2) = 0.0869(0.2174). Data were collected on a Siemens P4 four-circle diffractometer at 293 K in the range of 1.51 < theta < 22.50degrees using the omega-scan technique. Empirical absorption correction (psi scan) was applied. The structure was solved by the direct method and refined by the Full-matrix least-squares on F-2 using the SHELXL-97 software. X-ray crystallographic study showed that the title compound contained a bi-capped alpha-Kegin-type [(SiMo10V2O40)-O-IV((VO)-O-IV)(2)](4-) polyoxoanion.

Hydrothermal synthesis and crystal structure of an unusual compound: [Cu(en)(2)](4)[(SiMo8V4O40)-O-V((VO)-O-IV)(2)][MoO4](2)center dot 5H(2)O

A novel compound [Cu(en)(2)](4)[(SiMo8V4O40)-O-v(V-IV O)(2)] [MoO4](2) . 5H(2)O has been hydrothermally synthesized and structurally characterized by single-crystal X-ray diffraction. Black crystals crystallize in the tetragonal. system, space group 14/m, a = b = 14.019(2) Angstrom, c = 20.341(4) Angstrom, V = 3997.9(11) Angstrom(3), Z = 2, lambda(MoKalpha) = 0.71073 Angstrom (R(F) = 0.0443 for 1819 reflections). Data were collected on a Siemens P4 four-circle diffractometer at 293 K in the range of 1.76 < theta < 24.98degrees using the omega-scan technique. The structure was solved by the direct method and refined by the full-matrix least squares on F-2 method using the SHELXL-97 software. X-ray crystallographic study showed that the title compound contained a bicapped alpha-Keggin fragment [SiMo8 (V4O40)-O-v((VO)-O-IV)(2)](4-) polyoxoanion.