Global optimization and verification of cyber-physical systems using floating point math functionality on a system with heterogeneous hardware components

• US 9,652,213 B2
• Filed: 10/15/2015
• Issued: 05/16/2017
• Est. Priority Date: 10/23/2014
• Status: Active Grant

• Current Assignee: National Instruments Corporation (Emerson Electric Company)
• Original Assignee: National Instruments Corporation (Emerson Electric Company)
• Inventors: Kodosky, Jeffrey L., Andrade, Hugo A., Monroe, J. Marcus, Barp, Alexandre M., MacCleery, Brian C., Nagle, James C., Odom, Brian Keith, Butler, Cary Paul
• Primary Examiner(s): Vo, Ted T
• Application Number:
  US14/883,876
• Publication Number:
  US 20160117158A1
• Time in Patent Office: 579 Days
• Field of Search: 717135, 717174-178
• CPC Class Codes: G05B 17/02 electric
• CPC Class Codes: G05B 2219/23446 HIL hardware in the loop, simulates equipment to which a control module is fixed
• CPC Class Codes: G06F 11/261 by simulating additional hardware, e.g. fault simulation
• CPC Class Codes: G06F 11/2733 Test interface between tester and unit under test
• CPC Class Codes: G06F 11/3608 using formal methods, e.g. model checking, abstract interpretation theorem proving G06N5/013
• CPC Class Codes: G06F 2117/08 HW-SW co-design, e.g. HW-SW partitioning
• CPC Class Codes: G06F 30/00 Computer-aided design [CAD]
• CPC Class Codes: G06F 30/20 Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30
• CPC Class Codes: G06F 8/38 for implementing user interfaces
• CPC Class Codes: G06F 8/451 Code distribution considering CPU load at run-time G06F9/505; load rebalancing G06F9/5083
• CPC Class Codes: G06F 8/60 Software deployment
• CPC Class Codes: G06F 9/455 Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines

Abstract

Global optimization and verification of cyber-physical systems using graphical floating point math functionality on a heterogeneous hardware system (HHS). A program includes floating point implementations of a control program (CP), model of a physical system (MPS), objective function, requirements verification program (RVP), and/or global optimizer. A simulation simulates HHS implementation of the program using co-simulation with a trusted model, including simulating behavior and timing of distributed execution of the program on the HHS, and may verify the HHS implementation using the RVP. The HHS is configured to execute the CP and MPS concurrently in a distributed manner. After deploying the program to the HHS, the HHS is configured to globally optimize (improve) the CP and MPS executing concurrently on the HHS via the global optimizer. The optimized MPS may be usable to construct the physical system. The optimized CP may be executable on the HHS to control the physical system.

Claims

1. A system, comprising:

a heterogeneous hardware system (HHS) comprising multiple programmable elements; and

a memory medium that stores program instructions executable to;

store a program, wherein the program comprises floating point implementations of;

a control program, a model of a physical system, an objective function, a requirements verification program, and a global optimizer;

execute a simulation of the program on a computer using co-simulation with a trusted model, wherein the simulation simulates a heterogeneous hardware system (HHS) implementation of the program, including simulating behavior and timing of distributed execution of the program on the HHS, wherein said executing includes verifying the HHS implementation of the program using the requirements verification program; and

deploy the program on the HHS, wherein the HHS is configured to execute the control program and the model of the physical system concurrently in a distributed manner;

wherein, after said deploying the HHS is configured to;

globally improve the control program and the model of the physical system executing on the HHS in accordance with the objective function and requirements via the global optimizer; and

wherein the improved model of the physical system is usable to construct the physical system, and wherein the improved control program is executable on the HHS to control the physical system.

2. The system of claim 1, wherein, after said deployment the HHS is configured to:

execute the improved control program to control the physical system;

wherein inputs to the improved control program comprise signals from the physical system.

3. The system of claim 1, wherein, after said deployment the HHS is configured to:

execute the improved control program to control the physical system;

wherein inputs to the improved control program comprise simulated signals from the improved model of the physical system.

4. The system of claim 1, wherein the HHS is implemented on a chip.

5. The system of claim 1, wherein the HHS is implemented on multiple chips.

6. The system of claim 1, wherein the HHS comprises at least one programmable hardware element, at least one digital signal processor (DSP) core, and at least one programmable communication element (PCE).

7. The system of claim 6, wherein the HHS further includes at least one microprocessor.

8. The system of claim 6, wherein the at least one PCE comprises one or more PCEs for internal communications between the at least one programmable hardware element and the at least one DSP core.

9. The system of claim 6, wherein the at least one PCE comprises at least one I/O block for communications between the at least one programmable hardware element or the at least one DSP core and external components or systems.

10. The system of claim 6, wherein the HHS comprises one or more chips, and wherein the at least one PCE is configurable for intra-chip communications or inter-chip communications.

11. The system of claim 1, wherein the HHS includes at least one graphics processing unit (GPU).

12. The system of claim 1, wherein the co-simulation is performed using peer negotiated time steps.

13. The system of claim 1, wherein the program comprises a graphical program.

14. The system of claim 1, wherein the graphical program comprises a graphical data flow program.

15. A non-transitory computer accessible memory medium that stores program instructions executable by a processor to implement:

storing a program, wherein the program comprises floating point implementations of;

a control program, a model of a physical system, an objective function, a requirements verification program, and a global optimizer;

executing a simulation of the program on a computer using co-simulation with a trusted model, wherein the simulation simulates a heterogeneous hardware system (HHS) implementation of the program, including simulating behavior and timing of distributed execution of the program on the HHS, wherein said executing includes verifying the HHS implementation of the program using the requirements verification program; and

deploying the program on the HHS, wherein said deploying configures the HHS to globally improve the control program and the model of the physical system executing concurrently on the HHS via the global optimizer;

wherein the improved model of the physical system is usable to construct the physical system, and wherein the improved control program is executable on the HHS to control the physical system.

16. The non-transitory computer accessible memory medium of claim 15, wherein, after said deployment the HHS is configured to:

execute the improved control program to control the physical system;

wherein inputs to the improved control program comprise signals from the physical system.

17. The non-transitory computer accessible memory medium of claim 15, wherein, after said deployment the HHS is configured to:

execute the improved control program to control the physical system;

wherein inputs to the improved control program comprise simulated signals from the improved model of the physical system.

18. A method, comprising:

storing a program, wherein the program comprises floating point implementations of;

a control program, a model of a physical system, an objective function, a requirements verification program, and a global optimizer;

executing a simulation of the program on a computer using co-simulation with a trusted model, wherein the simulation simulates a heterogeneous hardware system (HHS) implementation of the program, including simulating behavior and timing of distributed execution of the program on the HHS, wherein said executing includes verifying the HHS implementation of the program using the requirements verification program; and

deploying the program on the HHS, wherein said deploying configures the HHS to globally improve the control program and the model of the physical system executing concurrently on the HHS via the global optimizer;

wherein the improved model of the physical system is usable to construct the physical system, and wherein the improved control program is executable on the HHS to control the physical system.

19. The method of claim 18, further comprising:

executing, by the HHS, the improved control program to control the physical system;

wherein inputs to the improved control program comprise signals from the physical system.

20. The method of claim 18, further comprising:

executing, by the HHS, the improved control program to control the physical system;

wherein inputs to the improved control program comprise simulated signals from the improved model of the physical system.

21. A system, comprising:

a heterogeneous hardware system (HHS) comprising multiple programmable elements; and

a memory medium that stores program instructions executable to;

store a program, wherein the program comprises floating point implementations of;

a control program, a model of a physical system, an objective function, a requirements verification program, and a global optimizer;

verify an HHS implementation of the program via the requirements verification program; and

deploy the program on the HHS, wherein the HHS is configured to execute the control program and the model of the physical system concurrently in a distributed manner;

wherein, after said deploying the HHS is configured to;

globally improve the control program and the model of the physical system executing on the HHS in accordance with the objective function and requirements via the global optimizer; and

wherein the improved model of the physical system is usable to construct the physical system, and wherein the improved control program is executable on the HHS to control the physical system.

22. The system of claim 21, wherein to verify the HHS implementation of the program, the program instructions are executable to:

execute a simulation of the program on a computer using co-simulation with a trusted model, wherein the simulation simulates the heterogeneous hardware system (HHS) implementation of the program, including simulating behavior and timing of distributed execution of the program on the HHS.