Model-Based Design of Adaptive Embedded Systems

313 Pages·2013·10.64 MB·English

by  Twan Basten

Embedded Systems
Twan Basten
Roelof Hamberg
Frans Reckers
Jacques Verriet Editors
Model-Based
Design of Adaptive
Embedded Systems
Embedded Systems
SeriesEditors
NikilD.Dutt,DepartmentofComputerScience,ZotCode3435,DonaldBren
SchoolofInformationandComputerSciences,UniversityofCalifornia,Irvine,
CA92697-3435,USA
PeterMarwedel,TUDortmund,Informatik12,Otto-Hahn-Str.16,44227
Dortmund,Germany
GrantMartin,TensilicaInc.,3255-6ScottBlvd.,SantaClara,CA95054,USA
Forfurthervolumes:
http://www.springer.com/series/8563

Twan Basten • Roelof Hamberg (cid:129) Frans Reckers
Jacques Verriet
Editors
Model-Based Design
of Adaptive Embedded
Systems
123
Editors
TwanBasten RoelofHamberg
EmbeddedSystemsInstitute EmbeddedSystemsInstitute
Eindhoven,TheNetherlands Eindhoven,TheNetherlands
FransReckers JacquesVerriet
EmbeddedSystemsInstitute EmbeddedSystemsInstitute
Eindhoven,TheNetherlands Eindhoven,TheNetherlands
ISSN2193-0155 ISSN2193-0163(electronic)
ISBN978-1-4614-4820-4 ISBN978-1-4614-4821-1(eBook)
DOI10.1007/978-1-4614-4821-1
SpringerNewYorkHeidelbergDordrechtLondon
LibraryofCongressControlNumber:2013930020
©SpringerScience+BusinessMediaNewYork2013
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Foreword
This book marks more than a decade of joint research by the EmbeddedSystems
Institute and Oce´-Technologies. The cooperation is based on a strong vision on
model-based product development in which modelling techniques are applied to
capture the design and to synthesise products. The HappyFlow paper path model
is a successfulexamplethatallows Oce´ to capturesheettimingknowledgeand to
optimise productivity of several products. HappyFlow was one of the productsof
thefirstcooperationprojectcalledBodeRC,thepredecessorofOctopus.
Oce´ deliversprofessionaldocumentprocessingequipmentandsoftwareallover
theworld.Ourproductsareusedbycommercialprintingcompanieswhorelyonthe
qualityandserviceofOce´products.Thechallengeistoofferreliableprintingtoall
these differentcompanies.Allourprintersoperateindifferentcircumstanceswith
respect to applications, media types, media sizes, print volumes, and job lengths.
Ideallyaprinterwilladapttothespecificcircumstancesanddeliverthebestquality
for each individual customer. For example, if on a particular site the power grid
cannotdelivertheloadrequiredforfullperformance,itwouldbegreatiftheprinter
wouldreducespeedinordertostaywithintheavailablecapacity.Thisadaptability
posesanenormouschallengeduetothemanydimensionsofcircumstancesandthe
complexityofdynamicin-producttrade-offs.
TheOctopusprojecthastakenupthischallengetohandlethemulti-disciplinary
complexity.The octopus is an intelligent animal and adapts easily to his environ-
mentandwithhisskilfultentaclesitcanhandlemanytasks.SoOctopusasaname
for the adaptability project surely reflects the ambition to enable development of
intelligentandadaptiveproducts.
At the start of the Octopus project we decided to strive for adaptability in-
the-small as well as in-the-large, marked by three different lines of attention. An
excellentexampleofadaptabilityin-the-smallisthepredictablecontrolofthespeed
ofindividualdropletsjettedbyaprinthead,adaptivetothecontentofthecurrently
and previously jetted bitmaps. The way to balance in-product between system
aspects like energy usage and productivity marks the other end of the spectrum.
Predictingandcomparingresourceusageofaprinterdatapathforallitsusecases
formedthechallengingthirdlineofattention.
v
vi Foreword
Theresultsarecompellingandaredirectlyvisibleintheearlystagesofproduct
development.WearehappythattheEmbeddedSystemsInstitutebringsourproduct
specialiststogetherwithresearchersfrommanyuniversities.Togethertheyexplore
new areas in system modelling and push the boundariesfor model-based product
development.
Venlo PaulHilkens
August2012 VicePresidentMechanicalDevelopment
Oce´-TechnologiesB.V.
Preface
It is with great pleasure that I welcome you to the final book on the ESI project
Octopus, the last project funded under the Dutch BSIK programme Embedded
Systems.ThisprojecthasbeenexecutedbyESI,Oce´,DelftUniversityofTechnol-
ogy,EindhovenUniversityofTechnology,theUniversityofTwente,andRadboud
University Nijmegen. The project started in July 2007, ended June 2012, and
encompassesanoverallvolumeof92FTE.
AsforallofESI’slargeprojects,Octopushasfollowedthebynowwell-known
industry-as-laboratory paradigm, in which scientific research is performed in the
contextofanindustrialcase.ForOctopus,thecasehasbeendefinedinthecontext
of the development of high-end adaptive professional printing systems, thereby
developingandusinga model-basedapproach.Threemainlinesofattentionwere
addressed:
(cid:129) Data path design: the development and use of analysis techniques in order to
verifywhetherfunctionalandperformancerequirementsof the data processing
inahigh-endprintercanbematchedwiththehardwareinfrastructure.Keyissue
hereis thewish to dothese evaluationsearlyin thedesignprocess,thatis, ata
pointintimewhenmakingchangesisstillreasonablyaffordable.
(cid:129) Advancedcontrolforinkjetprintheads:thedevelopmentofhigh-endfrequency-
robust techniques to facilitate high-speed printing at high quality, i.e. with
minimisedspatialdeformationsoftheintendeddotpatterns.
(cid:129) System-level reasoning and design: the development and application of multi-
disciplinary design methods and tools, to allow design trade-offs across disci-
plines,e.g.hardware,software,andmechatronics,inordertomakebetteruseof
allavailabledesignoptionswhilemanagingtheincreasedcomplexity.
TheOctopusprojecthasbeenhighlysuccessful.Amongtheresultswecountthe
followinghighlights:
(cid:129) Anintegrateddatapathevaluationenvironment,inwhichavarietyoftoolscan
beappliedandcombined,tovalidaterequiredsystembehaviour,startingfroma
single model specification. The design model specification language hides the
vii
viii Preface
underlying mathematical model analysis techniques, so that system designers
(notnecessarilyanalysisexperts)canstillapplythesetoolsanddotheappropriate
analyses.
(cid:129) Aninnovativecontrolschemeforinkjetprintheadsthatallowsforhigher-quality
printing.ThistechniqueisbeingappliedbyOce´ alreadyin theirnewestprinter
design.
(cid:129) AnOc e´patentapplicationforprintercontrollersbasedonprobabilisticmodels.
(cid:129) A large set of overall system models, including the automatic verification
of consistency between models from different disciplines, supported by tool
prototypes.
(cid:129) Morethan100scientificandprofessionalpublications,PhDthesesandmaster’s
thesesincluded.
All partners in the project are very satisfied with the results achieved in the
Octopusproject.PartoftheactivitiesinOctopushavefoundtheirwayinasuccessor
projectOcto+,aswellasinanumberofnationalandinternationalprojectinitiatives.
ApartfromthespecificresultswithintheprojectfortheOctopuspartners,more
generally relevant results from this project will also find their way to the other
projectsESIisexecuting,togetherwithotherindustrialandacademicpartners.
Iwouldliketothankallprojectparticipantsfortheircommitmentandcontribu-
tions:as a team theyhave turnedOctopusinto a success! The supportofOce´ and
theDutchMinistryofEconomicAffairs(nowEL&I)throughAgentschapNL,who
togetherprovidedthefunding,isgratefullyacknowledged.WealsothankSpringer
for their willingness to publish this book. With this book, we expect to share the
importantresultsachievedwithalarger,world-wideaudience,bothinindustryand
academia.
Eindhoven Prof.dr.ir.BoudewijnHaverkort
August2012 ScientificDirectorandChair
EmbeddedSystemsInstitute
Contents
1 AdaptivityinProfessionalPrintingSystems ............................. 1
JacquesVerriet,TwanBasten,RoelofHamberg,FransReckers,
andLouSomers
2 AspectsofAdaptiveSystemsEngineering:AProfessional
PrintingCase................................................................. 11
RoelofHamberg,Rene´Waarsing,TwanBasten,
FransReckers,JacquesVerriet,andLouSomers
3 PiezoPrintheadControl:JettingAnyDropatAnyTime............... 41
SjirkKoekebakker,MohamedEzzeldin,AmolKhalate,
RobertBabusˇka,XavierBombois,PaulvandenBosch,
Ge´rardScorletti,SiepWeiland,HermanWijshoff,Rene´ Waarsing,
andWimdeZeeuw
4 AdaptiveControlStrategiesforProductiveTonerPrinters............. 87
PaulvandenBosch,CarmenCochior,MohamedEzzeldin,
PerryGroot,PeterLucas,JacquesVerriet,Rene´Waarsing,
andSiepWeiland
5 Reasoning withUncertaintyaboutSystemBehaviour:
MakingPrintingSystemsAdaptive........................................ 125
SanderEvers,ArjenHommersom,PeterLucas,
CarmenCochior,andPaulvandenBosch
6 SupportingtheArchitectingProcessofAdaptiveSystems.............. 159
HitoshiKomoto,RoelofHamberg,andTetsuoTomiyama
7 Model-DrivenDesign-SpaceExplorationforSoftware-
IntensiveEmbeddedSystems............................................... 189
TwanBasten,MartijnHendriks,NikolaTrcˇka,LouSomers,
MarcGeilen,YangYang,GeorgetaIgna,SebastiandeSmet,
MarcVoorhoeve,WilvanderAalst,HenkCorporaal,
andFritsVaandrager
ix