class="bi x0 y0 w0 h1"
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page i 2009-10-13
Model-Based Design
for Embedded Systems
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page ii 2009-10-13
Computational Analysis, Synthesis,
and Design of Dynamic Models Series
Series Editor
Pieter J. Mosterman
The MathWorks
Natick, Massachusetts
Discrete-Event Modeling and Simulation: A Practitioner's Approach,
Gabriel A. Wainer
Discrete-Event Modeling and Simulation: Theory and Applications,
edited by Gabriel A. Wainer and Pieter J. Mosterman
Model-Based Design for Embedded Systems,
edited by Gabriela Nicolescu and Pieter J. Mosterman
Model-Based Testing for Embedded Systems,
edited by Justyna Zander, Ina Schieferdecker, and Pieter J. Mosterman
Multi-Agent Systems: Simulation & Applications
,
edited by Adelinde M. Uhrmacher and Danny Weyns
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page iii 2009-10-13
CRC Press is an imprint of the
Taylor & Francis Group, an informa business
Boca Raton London New York
Model-Based Design
for Embedded Systems
Gabriela Nicolescu
Pieter J. Mosterman
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page iv 2009-10-13

Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used
only for identification and explanation without intent to infringe.
Library of Congress Cataloging-in-Publication Data
Model-based design for embedded systems / Gabriela Nicolescu, Pieter J. Mosterman.
p. cm. (Computational analysis, synthesis, and design of dynamic models series)
Includes bibliographical references and index.
ISBN 978-1-4200-6784-2 (hardcover : alk. paper)
1. Embedded computer systems Design and construction. I. Nicolescu, G. (Gabriela)
II. Mosterman, Pieter J. III. Title. IV. Series.
TK7895.E42M62 2010
004.16 dc22 2009036996
Visit the Taylor & Francis Web site at
http://www.taylorandfrancis.com
and the CRC Press Web site at
http://www.crcpress.com
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page v 2009-10-13
Contents
Preface ix
Introduction xi
Contributors xix
PartI Real-Time and Performance Analysis in
Heterogeneous EmbeddedSystems
1 PerformancePrediction of Distributed Platforms 3
LotharThiele andSimonPerathoner
2SystemC-Based Performance Analysis of Embedded
Systems 27
Jürgen Schnerr, Oliver Bringmann, Matthias Krause,
Alexander Viehl, and WolfgangR
osentiel
3F

Soonhoi Ha
9 Pr ogramming Models forMPSoC 231
KatalinPopovici and Ahmed Jerraya
10 Platform-BasedDesignandFrameworks:
M
ETROPOLIS and METRO II 259
Felice Balarin, Massimiliano D’Angelo, AbhijitDavare, Douglas Densmore,
TrevorMeyerowitz, Roberto Passerone, Alessandro Pinto, Alberto
Sangiovanni-Vincentelli, AlenaSimalatsar,Yosinori Watanabe,
GuangYang, andQiZhu
11 ReconfigurableMulticore Architectures for Streaming
Applications
323
G
erard J. M. Smit, AndréB.J.Kokkeler, GerardK. Rauwerda,
and JanW.M.Jacobs
12 FPGA Platforms for EmbeddedSystems 351
StephenNeuendorffer
Part III Design Toolsand Methodology for
Multidomain EmbeddedSystems
13 Modeling, Verification, andTestingUsingTimed and
HybridAutomata 383
Stavros Tripakis and Thao Dang
14 Semantics of Domain-Specific ModelingLanguages 437
EthanJackson,RyanThibodeaux, Joseph Porter,
and Janos
Sztipanovits
15 Mult
i-ViewpointStateMachines for Rich
Component Models 487

Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page ix 2009-10-13
Preface
The unparalleled flexibility of computation has been a key driver and fea-
ture bonanza in the development of a wide range of products across a broad
and diverse spectrum of applications such as in the automotive aerospace,
health care, consumer electronics, etc. Consequently, the embedded micro-
processors that implement computational functionality have become a part
of almost every facet of our world, thereby significantly improving the qual-
ity of our lives. The versatility of computational features invites and endorses
a degree of imagination and creativity in design that has unlocked an almost
insatiable demand for consistently increasing both the complexity of embed-
ded systems and the performance of embedded computations. The quest to
rise to these demands has resulted in computing architectures of a heteroge-
neous nature. These architectures often integrate several types of processors,
analog and digital electronic components, as well as mechanical and optical
components, all on a single chip. To efficiently design for such heterogene-
ity and to maximally exploit its capabilities have become one of the most
prominent challenges that we are now faced with as a design automation
community.
Model-Based Design is emerging as a solution to bridge the gap between
computational capabilities that are available but that we are yet unable to
exploit. Using a computational approach in the design itself allows rais-
ing the level of abstraction of the system specification at which novel and
differentiating functionalities are captured. Automation can then assist in
refining this specification to an implementation. For this to be successful, per-
formance studies of potential implementations at a high level of abstraction
are essential, combined with the necessity of traceability and parameteriza-
tion throughout the refinement process.
This book provides a compilation of the work of internationally
renowned authors on Model-Based Design. Each chapter contributes

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Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page xi 2009-10-13
Introduction
Gabriela Nicolescu and Pieter J. Mosterman
The purpose of this book is to provide a comprehensive overview of the
current state of Model-Based Design for embedded systems, the challenges
involved, and the latest trends. To achieve this objective, the book offers a
compilation of 21 outstanding contributions from industry and academia.
The contributions are grouped into three main parts. Part I comprises the
contributions that focus on a key dimension in the design of embedded sys-
tems: the performance analysis of real-time behavior based on computational
models. Part II is composed of contributions proposing approaches that take
into consideration the specific characteristics and design challenges of mul-
tiprocessor systems-on-chip (MPSoCs). Part III contains contributions in the
field of system-level design of multidomain systems.
An “embedded system” is a system designed to perform a dedicated
function, typically with tight real-time constraints, limited dimensions, and
low cost and low-power requirements. It is a combination of computer hard-
ware and software and additional mechanical, optical, or other parts that
are typically used in the specific role of actuators, sensors, and transduc-
ers, in general. In some cases, embedded systems are part of a larger sys-
tem or product, for example, an antilock braking system in a car. Examples
of embedded systems are cell phones, digital cameras, GPS receivers, fax
machines, printers, debit/credit card readers, heart rate monitors, blood gas
monitors, etc. [Gan03].
The evolution of embedded systems parallels Moore’s law, which states

devices (e.g., for distance measurement and three-dimensional imaging).
The heterogeneity of modern embedded systems is responsible for a
complexity that is exceptionally challenging to their design. Moreover,
these systems have particularly tight performance, time-to-market, and cost
constraints. To meet these constraints, engineers must find solutions to
efficiently design systems including complex electronic components that
integrate several cores, RF circuitry, digital and analog hardware compo-
nents, as well as mechanical and optical components. Model-Based Design
addresses this issue by focusing on computational models as the core design
artifact. The model enables a hierarchical design process where the entire
system is first represented at an abstract level while model elaboration itera-
tively refines this design and includes details as necessary to implement the
required functionality. Thus, different models that may be playing different
roles are required for the main stages of the design: the specification, the
test and validation, and the consecutive refinement. The ability to efficiently
construct models combined with associated tools and systematic methodolo-
gies primes Model-Based Design for success by providing a complete solu-
tion that enables concurrent engineering, performance analysis, automatic
test generation, building efficient specifications and execution models, code
generation and optimization, and automatic refinement through different
abstraction levels.
This book provides a comprehensive survey and overview of the benefits
of Model-Based Design in the field of heterogeneous embedded systems. The
selected contributions present successful approaches where models, tools,
and methodologies result in important cost reduction and performance gain
of heterogeneous embedded systems while decreasing their time-to-market.
Organization
This book is divided into three parts: Part I—Real-Time and Performance
Analysis in Heterogeneous Embedded Systems, Part II—Design Tools and
Methodology for Multiprocessor System-on-Chip, and Part III—Design

framework for formal performance analysis. After an introduction to hierar-
chical communications and MPSoC architectures and their implications on
performance, this chapter presents a methodology to systematically investi-
gate the sensitivity of a given system configuration and to explore the design
space for optimal configurations. Finally, this chapter illustrates the tim-
ing bottlenecks in an illustrative heterogeneous automotive architecture, and
shows how to improve the performance guided by sensitivity analysis and
system exploration.
Chapter 4 proposes a modeling framework that may be instantiated to
suit a variety of scheduling scenarios and can be easily extended. This chap-
ter first introduces the formalism underlying the approach by means of an
example. The framework that is used and the types of schedulability prob-
lems that can be analyzed using this framework are then presented. The
framework is then applied to the analysis of an example system.
Chapter 5 presents the MOVeS analysis framework that can be used
to provide schedulability analyses for multicore embedded systems. This
framework is based on an embedded system model that consists of an
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page xiv 2009-10-13
xiv Introduction
application model, an execution platform model, and a system model, which
is a particular mapping of the application onto the execution platform. The
model is represented using timed automata. Finally, this chapter shows how
the framework can be used to verify properties of an embedded system by
means of a number of examples including that of a smart phone, showing
the ability to handle systems of realistic size.
Chapter 6 introduces a MATLAB
R

/Simulink
R

based on a parallel programming model, called common intermediate code
(CIC). In a CIC, the function and data parallelisms of application tasks are
specified independently of the target architecture and design constraints.
Information on the target architecture and the design constraints is sepa-
rately described in an architecture information file. Based on this informa-
tion, the programmer maps tasks to processing components, either manually
or automatically. The efficiency of the proposed methodology is illustrated
using a multimedia application, the H.263 decoder.
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page xv 2009-10-13
Introduction xv
Chapter 9 presents a definition of the programming models that abstract
hardware/software interfaces in the case of heterogeneous MPSoCs. Then,
a programming environment is proposed that identifies several program-
ming models at different MPSoC abstraction levels. The proposed approach
combines the Simulink environment for high-level programming and the
SystemC design language for low-level programming. The proposed
methodology is applied to a heterogeneous multiprocessor platform, to
explore the communication architecture and to generate efficient executable
code of the software stack for an H.264 video encoder application.
Chapter 10 discusses design principles and how a unified methodol-
ogy together with a supporting software framework can be developed to
improve the level of efficiency of the embedded electronics industry. This
chapter first presents the design challenges for future systems and a man-
ifesto espousing the benefits of a unified methodology. Then a method-
ology, a platform-based design, is summarized. The chapter proceeds to
present Metropolis, a software framework supporting the methodology, and
Metro II, a second-generation framework tailored to industrial test cases. It
concludes with two test cases in diverse domains: semiconductor chips (a
universal mobile telecommunication system multichip design) and energy-
efficient buildings (an indoor air quality control system).

Model-Based Design for illustrative heterogeneous systems such as opto-
electromechanical and mixed-signal systems are discussed in detail.
Chapter 13 provides a comprehensive overview of modeling with timed
and hybrid automata. These types of automata have been introduced in order
to blend the discrete world of computers with the continuous physical world.
This chapter presents the basics of timed and hybrid automata models and
methods for exhaustive or partial verification, as well as testing for these
models.
Chapter 14 captures the fundamental problems, methods, and techniques
for specifying the semantics of DSMLs. The effective application of DSMLs
for an embedded design requires developers to have an unambiguous spec-
ification of the semantics of modeling languages. This chapter explores two
key aspects of this problem: the specifications of structural and behavioral
semantics.
Chapter 15 emphasizes combining different modeling perspectives and
provides a simple and elegant notion of parallel composition. This chapter
first reviews the concepts of “component” and “contract” from a semantic
point of view. Then, the extended state machine model is described. The syn-
tax and the expressive power used for expressions in the transitions of the
state-based model are reviewed, followed by the specialization of the model
into different categories to support alternative perspectives.
Chapter 16 presents an approach to solve the problem of combining
continuous-time and discrete-event execution models. This chapter focuses
on the analysis of the two execution models and on the definition of mod-
els for simulation interfaces required for combining these models in a global
continuous/discrete execution model. It proposes a generic methodology,
independent of the simulation language, for the design of continuous/
discrete cosimulation tools.
Chapter 17 provides an operational semantics that supports a combina-
tion of synchronous/reactive (SR) systems, discrete-event (DE) systems, and

lyze mixed-signal trade-offs, which makes it invaluable to multitechnology
system designers.
Chapter 21 underscores the importance of the role of behavioral model-
ing in the design of multidomain systems. This chapter presents a case study
where mixed-signal hardware description languages are used to specify and
simulate systems composed of elements of a different nature. A VHDL-
AMS-based approach is applied for the behavioral modeling of MEMS-based
microinstrumentation.
References
[Gan03] J. Gannsle and M. Barr, Embedded Systems Dictionary, CMP Books,
San Francisco, CA, 2003.
[ITR07] International Technology Roadmap for Semiconductors, ITRS 2007
Rapport.
[Jer04] A. Jerraya and W. Wolf, Multiprocessors Systems-on-Chip, Morgan
Kaufmann, San Francisco, CA, 2004.
[TUM06] R. Tummala, Moore’s law meets its match, IEEE Spectrum, 43(6),
44–49, June 2006 Issue.
[ZHA06] G. Q. Zhang, M. Graef, and F. van Roosmalen, Strategic research
agenda of “More than Moore,” in Proceedings of EuroSime 2006,
Como, Italy, pp. 1–6, April 24–26, 2006.
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page xviii 2009-10-13
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page xix 2009-10-13
Contributors
Karl-ErikÅrzén
Department of Automatic Control
Lund Institute of Technology
Lund University
Lund, Sweden
Michael M.Bails
FedEx Ground

Software
Engineering
Ecole
Polytechnique
de Montreal
Montreal, Quebec, Canada
Aske W. Brekling
Department of Informatics and
Mathematical Modelling
Technical University of Denmark
Lyngby, Denmark
Oliver Bringmann
Forschungszentrum Informatik
Karlsruhe, Germany
Benoît Caillaud
Institut de Recherche en
Informatique et Systèmes
Aléatoires
Institut National de Recherche
en Informatique et en
Automatique
Rennes, France
Anton Cervin
Department of Automatic Control
Lund Institute of Technology
Lund University
Lund, Sweden
xix
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page xx 2009-10-13
xx Contributors

Samuel J.Dickerson
Department of Electrical and
Computer Engineering
University of Pittsburgh
Pittsburgh, Pennsylvania
Rolf Ernst
Institute of Computer and
Network Engineering
Technische Universität
Braunschweig
Braunschweig, Germany
Carles Ferrer
Instituto
de
Microelectrònica de
Barcelona
Centro
Nacional de Microelectrónica
Universitat Autonòma de Barcelona
Barcelona, Spain
and
Department de Microelectrònica i
Sistemes Electrònics
Universitat Autonòma de Barcelona
Barcelona, Spain
VincentGagne
STMicroelectronics, Inc.
Ottawa, Ontario, Canada
Luiza Gheorghe
Department of Computer and

Institute of Computer and
Network Engineering
Technische Universität
Braunschweig
Braunschweig, Germany
Jacob Illum
Department of Computer Science
Center for Embedded Software
Systems
Aalborg University
Aalborg, Denmark
Ethan Jackson
Microsoft Research
Redmond, Washington
Jan W. M. Jacobs
OCE Technologies
Venlo, the Netherlands
Ahmed Jerraya
Atomic Energy Commission
Laboratory of the Electronics and
Information Technology
MINATEC
Grenoble, France
AndréB.J.Kokkeler
Department of Electrical
Engineering, Mathematics and
Computer Science
University of Twente
Enschede, the Netherlands
Matthias Krause

DavidLo
STMicroelectronics, Inc.
Ottawa, Ontario, Canada
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page xxii 2009-10-13
xxii Contributors
Bibiana Lorente-Alvarez
Department de Microelectrònica
Universitat Autonòma de Barcelona
Barcelona, Spain
Jan Madsen
Department of Informatics and
Mathematical Modelling
Technical University of Denmark
Lyngby, Denmark
Jose A. Martinez
Cadence Design Systems, Inc.
San Jose, California
Michel Metzger
STMicroelectronics, Inc.
Ottawa, Ontario, Canada
TrevorMeyerowitz
Sun Microsystems
Menlo Park, California
Stephen Neuendorffer
Xilinx Research Labs
San Jose, California
Gabriela Nicolescu
Department of Computer and
Software Engineering
Ecole Polytechnique de Montreal

United Technology Research
Center
Berkeley, California
Katalin Popovici
TIMA Laboratory
Grenoble, France
and
The MathWorks, Inc.
Natick, Massachusetts
Joseph Porter
Institute for Software Integrated
Systems
Vanderbilt University
Nashville, Tennessee
Razvan Racu
Institute of Computer and
Network Engineering
Technische Universität
Braunschweig
Braunschweig, Germany
GerardK.Rauwerda
Recore Systems
Enschede, the Netherlands
Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page xxiii 2009-10-13
Contributors xxiii
DavidK.Reed
Keynote Systems
San Mateo, California
WolfgangRosenstiel
Forschungszentrum Informatik

Trento, Italy
Arne Skou
Department of Computer Science
Center for Embedded Software
Systems
Aalborg University
Aalborg, Denmark
Gerard J. M.Smit
Department
of
Electrical
Engineering, Mathematics
&
Computer Science
University of Twente
Enschede, the Netherlands
Janos Sztipanovits
Institute for Software Integrated
Systems
Vanderbilt University
Nashville, Tennessee
Ryan Thibodeaux
South West Research Institute
San Antonio, Texas
Lothar Thiele
Computer Engineering and
Networks Laboratory
Swiss Federal Institute of
Technology Zurich
Zurich, Switzerland