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Description
As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite

As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation.
ContributorsRaji Kermani, Ramtin (Author) / Fainekos, Georgios (Thesis advisor) / Lee, Yann-Hang (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2013
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Description
In recent years we have witnessed a shift towards multi-processor system-on-chips (MPSoCs) to address the demands of embedded devices (such as cell phones, GPS devices, luxury car features, etc.). Highly optimized MPSoCs are well-suited to tackle the complex application demands desired by the end user customer. These MPSoCs incorporate a

In recent years we have witnessed a shift towards multi-processor system-on-chips (MPSoCs) to address the demands of embedded devices (such as cell phones, GPS devices, luxury car features, etc.). Highly optimized MPSoCs are well-suited to tackle the complex application demands desired by the end user customer. These MPSoCs incorporate a constellation of heterogeneous processing elements (PEs) (general purpose PEs and application-specific integrated circuits (ASICS)). A typical MPSoC will be composed of a application processor, such as an ARM Coretex-A9 with cache coherent memory hierarchy, and several application sub-systems. Each of these sub-systems are composed of highly optimized instruction processors, graphics/DSP processors, and custom hardware accelerators. Typically, these sub-systems utilize scratchpad memories (SPM) rather than support cache coherency. The overall architecture is an integration of the various sub-systems through a high bandwidth system-level interconnect (such as a Network-on-Chip (NoC)). The shift to MPSoCs has been fueled by three major factors: demand for high performance, the use of component libraries, and short design turn around time. As customers continue to desire more and more complex applications on their embedded devices the performance demand for these devices continues to increase. Designers have turned to using MPSoCs to address this demand. By using pre-made IP libraries designers can quickly piece together a MPSoC that will meet the application demands of the end user with minimal time spent designing new hardware. Additionally, the use of MPSoCs allows designers to generate new devices very quickly and thus reducing the time to market. In this work, a complete MPSoC synthesis design flow is presented. We first present a technique \cite{leary1_intro} to address the synthesis of the interconnect architecture (particularly Network-on-Chip (NoC)). We then address the synthesis of the memory architecture of a MPSoC sub-system \cite{leary2_intro}. Lastly, we present a co-synthesis technique to generate the functional and memory architectures simultaneously. The validity and quality of each synthesis technique is demonstrated through extensive experimentation.
ContributorsLeary, Glenn (Author) / Chatha, Karamvir S (Thesis advisor) / Vrudhula, Sarma (Committee member) / Shrivastava, Aviral (Committee member) / Beraha, Rudy (Committee member) / Arizona State University (Publisher)
Created2013
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Description
The focus of this document is the examination of a new robot simulator developed to aid students in learning robotics programming and provide the ability to test their programs in a simulated world. The simulator, accessed via a website, provides a simulated environment, programming interface, and the ability to control

The focus of this document is the examination of a new robot simulator developed to aid students in learning robotics programming and provide the ability to test their programs in a simulated world. The simulator, accessed via a website, provides a simulated environment, programming interface, and the ability to control a simulated robot. The simulated environment consists of a user-customizable maze and a robot, which can be controlled manually, via Web service, or by utilizing the Web programming interface. The Web programming interface provides dropdown boxes from which the users may select various options to program their implementations. It is designed to aid new students in the learning of basic skills and thought processes used to program robots. Data was collected and analyzed to determine how effective this system is in helping students learn. This included how quickly students were able to program the algorithms assigned to them and how many lines of code were used to implement them. Students' performance was also monitored to determine how well they were able to use the program and if there were any significant problems. The students also completed surveys to communicate how well the website helped them learn and understand various concepts. The data collected shows that the website was a helpful learning tool for the students and that they were able to use the programming interface quickly and effectively.
ContributorsDrown, Garrett (Author) / Tsai, Wei-Tek (Thesis advisor) / Chen, Yinong (Thesis advisor) / Claveau, David (Committee member) / Arizona State University (Publisher)
Created2012
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Description
This dissertation presents the Temporal Event Query Language (TEQL), a new language for querying event streams. Event Stream Processing enables online querying of streams of events to extract relevant data in a timely manner. TEQL enables querying of interval-based event streams using temporal database operators. Temporal databases and temporal query

This dissertation presents the Temporal Event Query Language (TEQL), a new language for querying event streams. Event Stream Processing enables online querying of streams of events to extract relevant data in a timely manner. TEQL enables querying of interval-based event streams using temporal database operators. Temporal databases and temporal query languages have been a subject of research for more than 30 years and are a natural fit for expressing queries that involve a temporal dimension. However, operators developed in this context cannot be directly applied to event streams. The research extends a preexisting relational framework for event stream processing to support temporal queries. The language features and formal semantic extensions to extend the relational framework are identified. The extended framework supports continuous, step-wise evaluation of temporal queries. The incremental evaluation of TEQL operators is formalized to avoid re-computation of previous results. The research includes the development of a prototype that supports the integrated event and temporal query processing framework, with support for incremental evaluation and materialization of intermediate results. TEQL enables reporting temporal data in the output, direct specification of conditions over timestamps, and specification of temporal relational operators. Through the integration of temporal database operators with event languages, a new class of temporal queries is made possible for querying event streams. New features include semantic aggregation, extraction of temporal patterns using set operators, and a more accurate specification of event co-occurrence.
ContributorsShiva, Foruhar Ali (Author) / Urban, Susan D (Thesis advisor) / Chen, Yi (Thesis advisor) / Davulcu, Hasan (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2012
Description
Laboratory automation systems have seen a lot of technological advances in recent times. As a result, the software that is written for them are becoming increasingly sophisticated. Existing software architectures and standards are targeted to a wider domain of software development and need to be customized in order to use

Laboratory automation systems have seen a lot of technological advances in recent times. As a result, the software that is written for them are becoming increasingly sophisticated. Existing software architectures and standards are targeted to a wider domain of software development and need to be customized in order to use them for developing software for laboratory automation systems. This thesis proposes an architecture that is based on existing software architectural paradigms and is specifically tailored to developing software for a laboratory automation system. The architecture is based on fairly autonomous software components that can be distributed across multiple computers. The components in the architecture make use of asynchronous communication methodologies that are facilitated by passing messages between one another. The architecture can be used to develop software that is distributed, responsive and thread-safe. The thesis also proposes a framework that has been developed to implement the ideas proposed by the architecture. The framework is used to develop software that is scalable, distributed, responsive and thread-safe. The framework currently has components to control very commonly used laboratory automation devices such as mechanical stages, cameras, and also to do common laboratory automation functionalities such as imaging.
ContributorsKuppuswamy, Venkataramanan (Author) / Meldrum, Deirdre (Thesis advisor) / Collofello, James (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Johnson, Roger (Committee member) / Arizona State University (Publisher)
Created2012
Description
This thesis introduces the Model-Based Development of Multi-iRobot Toolbox (MBDMIRT), a Simulink-based toolbox designed to provide the means to acquire and practice the Model-Based Development (MBD) skills necessary to design real-time embedded system. The toolbox was developed in the Cyber-Physical System Laboratory at Arizona State University. The MBDMIRT toolbox runs

This thesis introduces the Model-Based Development of Multi-iRobot Toolbox (MBDMIRT), a Simulink-based toolbox designed to provide the means to acquire and practice the Model-Based Development (MBD) skills necessary to design real-time embedded system. The toolbox was developed in the Cyber-Physical System Laboratory at Arizona State University. The MBDMIRT toolbox runs under MATLAB/Simulink to simulate the movements of multiple iRobots and to control, after verification by simulation, multiple physical iRobots accordingly. It adopts the Simulink/Stateflow, which exemplifies an approach to MBD, to program the behaviors of the iRobots. The MBDMIRT toolbox reuses and augments the open-source MATLAB-Based Simulator for the iRobot Create from Cornell University to run the simulation. Regarding the mechanism of iRobot control, the MBDMIRT toolbox applies the MATLAB Toolbox for the iRobot Create (MTIC) from United States Naval Academy to command the physical iRobots. The MBDMIRT toolbox supports a timer in both the simulation and the control, which is based on the local clock of the PC running the toolbox. In addition to the build-in sensors of an iRobot, the toolbox can simulate four user-added sensors, which are overhead localization system (OLS), sonar sensors, a camera, and Light Detection And Ranging (LIDAR). While controlling a physical iRobot, the toolbox supports the StarGazer OLS manufactured by HAGISONIC, Inc.
ContributorsSu, Shih-Kai (Author) / Fainekos, Georgios E (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Artemiadis, Panagiotis K (Committee member) / Arizona State University (Publisher)
Created2012
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Description
A semiconductor supply chain modeling and simulation platform using Linear Program (LP) optimization and parallel Discrete Event System Specification (DEVS) process models has been developed in a joint effort by ASU and Intel Corporation. A Knowledge Interchange Broker (KIBDEVS/LP) was developed to broker information synchronously between the DEVS and LP

A semiconductor supply chain modeling and simulation platform using Linear Program (LP) optimization and parallel Discrete Event System Specification (DEVS) process models has been developed in a joint effort by ASU and Intel Corporation. A Knowledge Interchange Broker (KIBDEVS/LP) was developed to broker information synchronously between the DEVS and LP models. Recently a single-echelon heuristic Inventory Strategy Module (ISM) was added to correct for forecast bias in customer demand data using different smoothing techniques. The optimization model could then use information provided by the forecast model to make better decisions for the process model. The composition of ISM with LP and DEVS models resulted in the first realization of what is now called the Optimization Simulation Forecast (OSF) platform. It could handle a single echelon supply chain system consisting of single hubs and single products In this thesis, this single-echelon simulation platform is extended to handle multiple echelons with multiple inventory elements handling multiple products. The main aspect for the multi-echelon OSF platform was to extend the KIBDEVS/LP such that ISM interactions with the LP and DEVS models could also be supported. To achieve this, a new, scalable XML schema for the KIB has been developed. The XML schema has also resulted in strengthening the KIB execution engine design. A sequential scheme controls the executions of the DEVS-Suite simulator, CPLEX optimizer, and ISM engine. To use the ISM for multiple echelons, it is extended to compute forecast customer demands and safety stocks over multiple hubs and products. Basic examples for semiconductor manufacturing spanning single and two echelon supply chain systems have been developed and analyzed. Experiments using perfect data were conducted to show the correctness of the OSF platform design and implementation. Simple, but realistic experiments have also been conducted. They highlight the kinds of supply chain dynamics that can be evaluated using discrete event process simulation, linear programming optimization, and heuristics forecasting models.
ContributorsSmith, James Melkon (Author) / Sarjoughian, Hessam S. (Thesis advisor) / Davulcu, Hasan (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2012
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Description
In this thesis we deal with the problem of temporal logic robustness estimation. We present a dynamic programming algorithm for the robust estimation problem of Metric Temporal Logic (MTL) formulas regarding a finite trace of time stated sequence. This algorithm not only tests if the MTL specification is satisfied by

In this thesis we deal with the problem of temporal logic robustness estimation. We present a dynamic programming algorithm for the robust estimation problem of Metric Temporal Logic (MTL) formulas regarding a finite trace of time stated sequence. This algorithm not only tests if the MTL specification is satisfied by the given input which is a finite system trajectory, but also quantifies to what extend does the sequence satisfies or violates the MTL specification. The implementation of the algorithm is the DP-TALIRO toolbox for MATLAB. Currently it is used as the temporal logic robust computing engine of S-TALIRO which is a tool for MATLAB searching for trajectories of minimal robustness in Simulink/ Stateflow. DP-TALIRO is expected to have near linear running time and constant memory requirement depending on the structure of the MTL formula. DP-TALIRO toolbox also integrates new features not supported in its ancestor FW-TALIRO such as parameter replacement, most related iteration and most related predicate. A derivative of DP-TALIRO which is DP-T-TALIRO is also addressed in this thesis which applies dynamic programming algorithm for time robustness computation. We test the running time of DP-TALIRO and compare it with FW-TALIRO. Finally, we present an application where DP-TALIRO is used as the robustness computation core of S-TALIRO for a parameter estimation problem.
ContributorsYang, Hengyi (Author) / Fainekos, Georgios (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Shrivastava, Aviral (Committee member) / Arizona State University (Publisher)
Created2013
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Description
Time-series plots are used in many scientific and engineering applications. In this thesis, two new plug-ins for piecewise constant and event time-series are developed within the Eclipse BIRT (Business Intelligence and Reporting Tools) framework. These customizable plug-ins support superdense time, which is required for plotting the dynamics of Parallel DEVS

Time-series plots are used in many scientific and engineering applications. In this thesis, two new plug-ins for piecewise constant and event time-series are developed within the Eclipse BIRT (Business Intelligence and Reporting Tools) framework. These customizable plug-ins support superdense time, which is required for plotting the dynamics of Parallel DEVS models. These plug-ins are designed to receive time-based alphanumerical data sets from external computing sources, which can then be dynamically plotted. Static and dynamic time-series plotting are demonstrated in two settings. First, as standalone plug-ins, they can be used to create static plots, which can then be included in BIRT reports. Second, the plug-ins are integrated into the DEVS-Suite simulator where runtime simulated data generated from model components are dynamically plotted. Visual representation of data sets can simplify and improve model verification and simulation validation.
ContributorsSundaramoorthi, Savitha (Author) / Sarjoughian, Hessam S. (Thesis advisor) / Maciejewski, Ross (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
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Description
A new algebraic system, Test Algebra (TA), is proposed for identifying faults in combinatorial testing for SaaS (Software-as-a-Service) applications. In the context of cloud computing, SaaS is a new software delivery model, in which mission-critical applications are composed, deployed, and executed on cloud platforms. Testing SaaS applications is challenging because

A new algebraic system, Test Algebra (TA), is proposed for identifying faults in combinatorial testing for SaaS (Software-as-a-Service) applications. In the context of cloud computing, SaaS is a new software delivery model, in which mission-critical applications are composed, deployed, and executed on cloud platforms. Testing SaaS applications is challenging because new applications need to be tested once they are composed, and prior to their deployment. A composition of components providing services yields a configuration providing a SaaS application. While individual components

in the configuration may have been thoroughly tested, faults still arise due to interactions among the components composed, making the configuration faulty. When there are k components, combinatorial testing algorithms can be used to identify faulty interactions for t or fewer components, for some threshold 2 <= t <= k on the size of interactions considered. In general these methods do not identify specific faults, but rather indicate the presence or absence of some fault. To identify specific faults, an adaptive testing regime repeatedly constructs and tests configurations in order to determine, for each interaction of interest, whether it is faulty or not. In order to perform such testing in a loosely coupled distributed environment such as

the cloud, it is imperative that testing results can be combined from many different servers. The TA defines rules to permit results to be combined, and to identify the faulty interactions. Using the TA, configurations can be tested concurrently on different servers and in any order. The results, using the TA, remain the same.
ContributorsQi, Guanqiu (Author) / Tsai, Wei-Tek (Thesis advisor) / Davulcu, Hasan (Committee member) / Sarjoughian, Hessam S. (Committee member) / Yu, Hongyu (Committee member) / Arizona State University (Publisher)
Created2014