Dynamic resolution in distributed cyber-physical system simulation

ABSTRACT

Cyber-physical systems challenge distributed simulation techniques for reasons of the heterogeneous tools used to model system components at different levels of abstraction, each with potentially different notions of time. The SimConnect and SimTalk distributed cyber-physical system simulation tools meet the synchronization challenge of distributed simulation, but also offer dynamic resolution among coordinated simulators for tradeoffs in simulation speed versus accuracy. This paper discusses the dynamic resolution capabilities of SimConnect and SimTalk, and evaluates the tools in distributed simulation of a closed-loop motor control system. Results show selectable tradeoffs in speedup versus accuracy over non-dynamic coordination.

References

1. Lee, E.A., "Cyber-Physical Systems: Design Challenges," The University of California at Berkeley Center for Hybrid and Embedded Software Systems, Technical Report No.UCB/EECS-2008-8, Jan. 2008.
2. Sangiovanni-Vincentelli, A., "Quo Vadis, SLD? Reasoning about the Trends and Challenges of System Level Design," Proceedings of the IEEE, vol.95, no.3, pp.467--506, March 2007.
3. National Science Foundation (NSF), "Cyber-Pysical Systems," http://www.nsf.gov/pubs/2012/nsf12520/nsf12520.htm, 2006.
4. Klesh, A.T., Cutler, J.W., and E.M. Atkins, "Cyber-Physical Challenges for Space Systems," The 2012 IEEE/ACM Third International Conference Cyber-Physical Systems (ICCPS), pp. 45--52, 17-19 April 2012.
5. Rajkumar, R., Lee, I., Sha, L., and J. Stankovic, "Cyber-Physical Systems: The Next Computing Revolution," The 2010 ACM/IEEE 47th Design Automation Conference (DAC), pp.731--736, 13-18 June 2010
6. Nenzi, P., and V. Holger, "Ngspice Users Manual." V. 22, Sep 2010, ngspice.sourceforge.net.
7. Valvano, J., Embedded Microcomputer Systems: Real Time Interfacing, 3rd ed. Stamford, CT: Cengage Learning, 2011.
8. Fujimoto, R.M., "Parallel and Distributed Simulation," Proceedings of the 1995 Winter Simulation Conference, pp. 118--125, 3-6 Dec 1995.
9. Fujimoto. R.M. "Parallel Discrete Event Simulation," Proceedings of the 1989 Winter Simulation Conference, pp. 19--28, 4-6 Dec 1989.
10. Chandy, K.M., and J. Misra, "Distributed Simulation: A Case Study in Design and Verification of Distributed Programs," IEEE Transactions on Software Engineering, vol. SE-5, no. 5, Sep 1979.
11. Jefferson, D.R., "Virtual Time," ACM Transactions on Programming Languages and Systems, vol. 7, no. 3, 1985.
12. Pfeifer, D. and A. Gerstlauer, "Expression-level Parallelism for Distributed Spice Circuit Simulation," The 15th IEEE/ACM International Symposium on Distributed Simulation and Real Time Applications, DS-RT 2011. 4-7 September, 2011.
13. Pfeifer, D. and J. Valvano, "Kahn Process Networks Applied to Distributed Heterogeneous HW/SW Cosimulation," The 2011 Electronic System Level Synthesis Conference, ECSI. 5-6 June 2011.
14. Pfeifer, D., J. Valvano, and A. Gerstlauer. "SimConnect and SimTalk for Distributed Cyber-Physical System Simulation." Simulation: Transactions of the Society for Modeling and Simulation International. OnlineFirst, DOI: 10.1177/0037549712472755. 5 March 2013.
15. Schmerler, S., Tanurhan, Y., and K.D. Muller-Glaser, "A Backplane Approach for Cosimulation in High-level System Specification Environments," Proceedings of the European Design Automation Conference, EURO-DAC '95 with EURO-VHDL, pp. 262--267, 18--22 Sep 1995.
16. Atef, D., Salem, A., and H. Baraka, "An Architecture of Distributed Cosimulation Backplane," The 42nd Midwest Symposium on Circuits and Systems, vol. 2, pp.855--858, 1999.
17. Sung, W., and S. Ha, "A Hardware Software Cosimulation Backplane with Automatic Interface Generation," Proceedings of the Asia and South Pacific Design Automation Conference, ASP-DAC '98, pp.177--182, 10-13 Feb 1998.
18. Kahn, G., "The Semantics of a Simple Language for Parallel Programming," Information Processing, pp. 471--475, Stockholm, Sweden, Aug 1974.
19. Dou Zhiwu; Li Yanfeng; , "Dynamic Time Management Algorithms Research in Simulation System HLA-Based," Computer Science and Engineering, 2009. WCSE '09. Second International Workshop on , vol.1, no., pp.580--583, 28-30 Oct. 2009
20. Lungeanu, D.; Shi, C.-J.R.; , "Distributed simulation of VLSI systems via lookahead-free self-adaptive optimistic and conservative synchronization," Computer-Aided Design, 1999. Digest of Technical Papers. 1999 IEEE/ACM International Conference on , vol., no., pp.500--504, 1999
21. Lee, C.; Coe, E.; Clark, J.M.; Stepanek, J.; Raghavendra, C.; Bhatia, S.; Puri, R.; , "Scalable time management algorithms using active networks for distributed simulation," DARPA Active NEtworks Conference and Exposition, 2002. Proceedings , vol., no., pp. 366- 378, 2002
22. Moo-Kyoung Chung; Chong-Min Kyung; , "Improving Lookahead in Parallel Multiprocessor Simulation Using Dynamic Execution Path Prediction," Principles of Advanced and Distributed Simulation, 2006. PADS 2006. 20th Workshop on , vol., no., pp.11--18, 2006
23. "IEEE Standard for Modeling and Simulation (M&S) High Level Architecture (HLA)-- Framework and Rules," IEEE Std 1516-2010, vol., no., pp.1--38, Aug. 18 2010.
24. Lee, E.A., and A. Sangiovanni-Vincentelli, "Comparing Models of Computation," The IEEE/ACM International Conference on Computer-Aided Design Digest of Technical Paper,s ICCAD-96, pp.234--241, 10-14 Nov 1996.
25. Fujimoto, R.M. and R.M Weatherly, "Time Management in the DoD High Level Architecture," The Proceedings of the 1996 10th Workshop on Parallel and Distributed Simulation, pp. 60--67, 1996.
26. The MathWorks Corp. www.mathworks.com. 2012.
27. Franklin, G., J.D. Powell, and A. Emami-Naeini. Feedback Control of Dynamic Systems, 4th ed. Upper Saddle River, NJ: Prentice Hall, 2002.

Index Terms

• Computing methodologies

  • Modeling and simulation

    • Simulation types and techniques

      • Distributed simulation

      • Massively parallel and high-performance simulations