Marten Lohstroh Patricia Derler Marjan Sirjani (Eds.) t f i r h c s t s e F 0 6 7 0 1 S Principles of Modeling C N L Essays Dedicated to Edward A. Lee on the Occasion of His 60th Birthday 123 Lecture Notes in Computer Science 10760 Commenced Publication in 1973 Founding and Former Series Editors: Gerhard Goos, Juris Hartmanis, and Jan van Leeuwen Editorial Board David Hutchison Lancaster University, Lancaster, UK Takeo Kanade Carnegie Mellon University, Pittsburgh, PA, USA Josef Kittler University of Surrey, Guildford, UK Jon M. Kleinberg Cornell University, Ithaca, NY, USA Friedemann Mattern ETH Zurich, Zurich, Switzerland John C. Mitchell Stanford University, Stanford, CA, USA Moni Naor Weizmann Institute of Science, Rehovot, Israel C. Pandu Rangan Indian Institute of Technology Madras, Chennai, India Bernhard Steffen TU Dortmund University, Dortmund, Germany Demetri Terzopoulos University of California, Los Angeles, CA, USA Doug Tygar University of California, Berkeley, CA, USA Gerhard Weikum Max Planck Institute for Informatics, Saarbrücken, Germany More information about this series at http://www.springer.com/series/7408 Marten Lohstroh Patricia Derler (cid:129) Marjan Sirjani (Eds.) Principles of Modeling Essays Dedicated to Edward A. Lee on the Occasion of His 60th Birthday 123 Editors Marten Lohstroh Marjan Sirjani University of California, Berkeley Mälardalen University, Västerås,Sweden Berkeley, CA ReykjavíkUniversity USA Reykjavik Iceland Patricia Derler National Instruments Berkeley, CA USA ISSN 0302-9743 ISSN 1611-3349 (electronic) Lecture Notesin Computer Science ISBN 978-3-319-95245-1 ISBN978-3-319-95246-8 (eBook) https://doi.org/10.1007/978-3-319-95246-8 LibraryofCongressControlNumber:2018947456 LNCSSublibrary:SL2–ProgrammingandSoftwareEngineering ©SpringerInternationalPublishingAG,partofSpringerNature2018 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthe material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynow knownorhereafterdeveloped. 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SelfPortrait(acryliconcanvas,2007,2400(cid:2)2400)byEdwardA.Lee Preface It is our great pleasure to dedicate this Festschrift volume to the scholarship and teaching of Edward A. Lee, Robert S. Pepper Distinguished Professor Emeritus and Professor in the Graduate School in the Department of Electrical Engineering and Computer Sciences at the University of California, Berkeley. The title of this Festschrift is Principles of ModelingbecauseEdwardhaslongbeendevoted to research that centers on the role of models in science and engineering. Edward has been examining the use and limitations of models, theirformalproperties,theirroleincognitionand interplay with creativity, and their ability to representrealityandphysics.Headmonishesnot to“confusethemapwiththeterritory”1(thisalso inspiredFig.2,thecoverartforthisbook)andhe Fig. 2. “You will never strike oil by is keen to quote George Box’s famous phrase: drilling through the map.” A phrase “Allmodelsarewrong,butsomeareuseful”[1], coinedbySolomonGolomb[2].(Artwork notwithstanding that models and their ability to byR.MchedlishviliandM.Lohstroh) provide layered abstractions have been a key enabler of the Digital Revolution. At the same time, Edward points out that the layers of abstraction that work so well for information technology fail to expose detailsthatarenecessaryfortherealizationof other classes of systems, such as cyber-physical systems or time-sensitive sys- tems (Fig. 3). He also emphasizes that, for engineers, modeling is a “two-way street” since, unlike scientists, engineers can manip- ulate both the model and the thing being modeled. As such, we have the ability to improve our designs by giving expression to useful properties such as concurrency, deter- minism, and time representation, both in our models and the realizations thereof. As an Fig.3. Layersofabstractionthatworksowell educator and engineer (and self-proclaimed for information technology break down for nerd), Edward is very cognizant of the origin time-sensitivesystems.(ByEdwardA.Lee) of ideas and design artifacts, and he is 1 ItwasPolish-AmericanscientistandphilosopherAlfredKorzybskiwhofirstremarkedthat“themap isnottheterritory”[3]. VIII Preface consistent and thorough at crediting the people who formed them. In other words, he acknowledges not only the giants on whose shoulders we stand, but also our con- temporariesfromwhoseideaswecangainimpetus.Edwardgenuinelyenjoysengaging other minds and exchanging ideas—preferably via code—and has contributed greatly to the fields of embedded systems, real-time computing, computer architecture, mod- eling and simulation, and systems design. It was heartwarming that so many fellow leaders in these fields were excited to contribute articles to this special publication and were willing to travel from afar to attend the Edward A. Lee Festschrift Symposium, held at the Berkeley City Club on Friday October 13, 2017. Among the attendees of this day-long symposium we wel- comed many of Edward’s collaborators, colleagues, industrial fellows, current and formergraduatestudents,friendsandfamily,hiswife,Rhonda,and,ofcourse,Edward himself. It was an unforgettable event that featured an array of phenomenal talks keynotingtechnicalcontributions—punctuatedwithpersonalanecdotesandreferences to Edward’s work—a highly engaging panel discussion on the topic of determinism, and an opportunity to relax and socialize during the reception that followed in the evening. Fig.4. AttendeesoftheEdwardA.LeeFestschriftSymposium(PhotobyRusiMchedlishvili) We, as organizers, are grateful to all authors for accepting our invitation and sub- mitting first-rate contributions, to the reviewers who provided invaluable feedback on thesubmissions,toallpresenters,panelists,andsessionchairs,forsharingtheirunique perspectives, as well as to everyone who helped make the symposium such a memo- rable event. We are grateful to Berkeley faculty members Prabal Dutta, Jan Rabaey, AlbertoSangiovanni-Vincentelli,andSanjitSeshiafortheirgenerousfinancialsupport, and we would like to thank Springer for granting us the opportunity to publish this Festschrift in their Lecture Notes in Computer Science series. In his three decades of teaching at one of the most prestigious universities in the world, Edward has influenced many students, scholars, and members of industry with his contagious drive for hands-on experimentation and his inquisitive mind that is Preface IX always in pursuit of grounding observations in a sound framework of theory. These traits, together with a wealth of experience, steadfast commitment, and proverbial efficiency, serve as an impetus and inspiration—tohisstudentsandcollaboratorsalike— for rising above one’s self and achieving insightful research results. Despite being a professor emeritus, Edward still considers himself a student, and is ever so eager to learn. Edward has a real passion for programming and has kept honing his programming skills throughout his career. He has an extraordinary capacity and willingness to experience paradigm shifts in technology, not least by learning and mas- tering new programming languages—a feat that not Fig. 5. All Tied Up (Construction, 1998,30(cid:2)40)byEdwardA.Lee many professionals are able to pull off as gracefully as he can. Edward also has a passion for art—as an undergraduate in college, he took more art classes than engineering classes. He has always continued to create artwork, among which are paintings (Fig. 1), mashups (Fig. 6), and photographs. Over the years, some ofhisworks have become permanent fixtures on the walls of the Donald O. Pederson CenterinCoryHall,oneofwhichisshowninFig.5. More recently, Edward has focused on the phi- losophy of engineering, which he discusses in his first book for a general audience: Plato and the Nerd: The Creative Partnership of Humans and Technology. This book, written for literate technol- ogists andnumerate humanists,examinestherole of digital technology in our lives and explains why it has been so transformative and liberating, while it tempers runaway enthusiasm that may lead one to believe that anything physical is computational. Living in a time where we witness the tremendous impact of technology, but cannot always seem to Fig. 6. Human and Technology agree on whether to fear or to embrace it, we need FormingEachOther(ByEdwardA. moretorchbearerslikeEdward.Wehopethathewill Lee, Plato and the Nerd: The Crea- tive Partnership of Humans and continue to inspire and illuminate us with his bril- Technology) liance for many, many years to come. Fiat Lux! May 2018 Marten Lohstroh Patricia Derler Marjan Sirjani X Preface References 1. George EP Box. Science and statistics. Journal of the American Statistical Asso- ciation, 71(356):791–799, 1976. 2. Solomon W Golomb. Mathematical models: Uses and limitations. IEEE Transac- tions on Reliability, 20(3):130–131, 1971. 3. Alfred Korzybski. A non-aristotelian system and its necessity for rigour in mathe- matics and physics. American Association for the Advancement of Science in New Orleans, Louisiana, December 1931.