@conference {495, title = {CAN Coach: Vehicular Control through Human Cyber-Physical Systems}, booktitle = {Proceedings of the ACM/IEEE 12th International Conference on Cyber-Physical Systems}, year = {2021}, publisher = {Association for Computing Machinery}, organization = {Association for Computing Machinery}, address = {New York, NY, USA}, abstract = {

This work addresses whether a human-in-the-loop cyber-physical system (HCPS) can be effective in improving the longitudinal control of an individual vehicle in a traffic flow. We introduce the CAN Coach, which is a system that gives feedback to the human-in-the-loop using radar data (relative speed and position information to objects ahead) that is available on the controller area network (CAN). Using a cohort of six human subjects driving an instrumented vehicle, we compare the ability of the human-in-the-loop driver to achieve a constant time-gap control policy using only human-based visual perception to the car ahead, and by augmenting human perception with audible feedback from CAN sensor data. The addition of CAN-based feedback reduces the mean time-gap error by an average of 73\%, and also improves the consistency of the human by reducing the standard deviation of the time-gap error by 53\%. We remove human perception from the loop using a ghost mode in which the human-in-the-loop is coached to track a virtual vehicle on the road, rather than a physical one. The loss of visual perception of the vehicle ahead degrades the performance for most drivers, but by varying amounts. We show that human subjects can match the velocity of the lead vehicle ahead with and without CAN-based feedback, but velocity matching does not offer regulation of vehicle spacing. The viability of dynamic time-gap control is also demonstrated. We conclude that (1) it is possible to coach drivers to improve performance on driving tasks using CAN data, and (2) it is a true HCPS, since removing human perception from the control loop reduces performance at the given control objective.

}, keywords = {controller area network, cyber-physical systems, human-in-the-loop, vehicles}, isbn = {9781450383530}, doi = {10.1145/3450267.3450541}, url = {https://doi.org/10.1145/3450267.3450541}, author = {Nice, Matthew and Elmadani, Safwan and Bhadani, Rahul and Bunting, Matt and Sprinkle, Jonathan and Work, Dan} } @conference {494, title = {Libpanda - A High Performance Library for Vehicle Data Collection}, booktitle = {The Workshop on Data-Driven and Intelligent Cyber-Physical Systems}, year = {2021}, address = {Nashville, TN}, doi = {10.1145/3459609.3460529}, url = {https://doi.org/10.1145/3459609.3460529}, author = {Bunting, Matt and Bhadani, Rahul, and Sprinkle, Jonathan} } @conference {486, title = {Safer Adaptive Cruise Control for Traffic Wave Dampening}, booktitle = {ACM/IEEE 12th International Conference on Cyber-Physical Systems (with CPS-IoT Week 2021)}, year = {2021}, publisher = {ACM}, organization = {ACM}, abstract = {

This project aims to develop an adaptive cruise controller for vehicles at low speeds in stop-and-go traffic. Current adaptive cruise controllers can use RADAR sensors to follow a vehicle at high speeds (greater than 18 mph), but reach their limits if the lead vehicle{\textquoteright}s velocity dips below threshold, requiring the driver of the host vehicle to resume control over the car{\textquoteright}s speed. Some cruise controllers adapt to stop-and-go traffic, but these are mostly experimental and have yet to see widespread commercial implementation. These experimental models often have issues because of their limited data; consequently, the acceleration and deceleration can be jarring and uncomfortable to passengers. In contrast, because of our reliable sensor data, and the sensor configuration unique to the CAT Vehicle, our cruise controller will be capable of following cars at low speeds and functioning continuously, even when the car is stopped.\ 

}, doi = {10.1145/3450267.3452003}, url = {http://dx.doi.org/10.1145/3450267.3452003}, author = {Emily Baschab and Savannah Ball and Audrey Vazzana and Jonathan Sprinkle} } @article {459, title = {Are commercially implemented adaptive cruise control systems string stable?}, journal = {IEEE Transactions on Intelligent Transportation Systems}, year = {2020}, month = {06/2020}, pages = {12 pages}, abstract = {

In this article, we assess the string stability of seven 2018 model year adaptive cruise control (ACC) equipped vehicles that are widely available in the US market. A total of seven distinct vehicle models from two different vehicle makes are analyzed using data collected from more than 1,200 miles of driving in designed car-following experiments with ACC engaged by the following vehicle. The data is used to identify the parameters of a linear second order delay differential equation model that approximates the behavior of the proprietary ACC systems. The string stability of the data fitted model associated with each vehicle is assessed, and the main finding is that all seven vehicle models have string unstable ACC systems. For one commonly available vehicle that offers ACC as a standard feature on all trim levels, we validate the string stability finding with a multi-vehicle platoon experiment in which all vehicles are the same year, make, and model. In the multi-vehicle platoon test, an initial disturbance of 6 mph is amplified by 19 mph to a 25 mph disturbance, at which point the last vehicle in the platoon is observed to disengage the ACC and return control to the human driver. The data collected the driving experiments is made available, representing the largest available driving dataset on ACC equipped vehicles.

}, keywords = {Adaptive Cruise Control, String Stability}, doi = {10.1109/TITS.2020.3000682}, url = {http://dx.doi.org/10.1109/TITS.2020.3000682}, author = {George Gunter and Derek Gloudemans and Raphael E Stern and Sean McQuade and Rahul Bhadani and Matt Bunting and Maria Laura Dell Monache and Benjamin Seibold and Jonathan Sprinkle and Benedetto Piccoli and Daniel B. Work} } @article {490, title = {Modeling Human Car-Following Behavior from Demonstration with Recurrent Neural Networks}, year = {2020}, abstract = {

The validity of simulation testing for autonomous vehicles depends on the ability to accurately simulate human driving behavior. This project seeks to train a model on an individual{\textquoteright}s driving data, and to test the ability of the model to predict trajectories that replicate the driver{\textquoteright}s style by using the model in a realistic simulated environment. Specifically, we deployed Recurrent Neural Network (RNN) modeling techniques to create a black-box model of an individual{\textquoteright}s driving behavior. We use our RNN-trained model to simulate a human-driven vehicle in the Robot Operating System (ROS) based CAT Vehicle simulator for autonomous vehicle validation. We hope this work is a step to improve testing environments for validating human behavior replicating car-following models and thereby improve testing environments for autonomous vehicles in general.

}, keywords = {car-following models, driving behavior, recurrent neural network, simulation, trajectory prediction}, author = {Iris Jones and Megan Walter}, editor = {Rahul Bhadani} } @conference {481, title = {Programming the Kennedy Receiver for Capacity Maximization versus Minimizing One-shot Error Probability}, booktitle = {Frontiers in Optics 2020}, year = {2020}, month = {09/2020}, publisher = {The Optical Society of America}, organization = {The Optical Society of America}, address = {Online}, abstract = {

We find the capacity attained by the Kennedy receiver for coherent-state BPSK when the symbol prior $p$ and pre-detection displacement $\beta$ are optimized. The optimal $\beta$ is different than what minimizes error probability for single-shot BPSK state discrimination.

}, keywords = {Photonics, Photonics Information Theory, Quantum Optics}, isbn = {978-1-943580-80-4}, url = {https://www.osapublishing.org/abstract.cfm?uri=FiO-2020-JM6B.29}, author = {Rahul Bhadani and Ivan B. Djordjevic and Jonathan Sprinkle and Saikat Guha}, editor = {Michael Grace} } @article {491, title = {Safer Adaptive Cruise Control for Traffic Wave Dampening}, year = {2020}, abstract = {

Our goal is to develop an adaptive cruise controller for vehicles at low speeds in stop-and-go traffic. Current adaptive cruise controllers can use radar sensors to follow a vehicle at high speeds (greater than 18 mph), but reach their limits if the lead vehicle{\textquoteright}s velocity dips below threshold, requiring the driver of the host vehicle to resume control over the car{\textquoteright}s speed. Some cruise controllers adapt to stop-and-go traffic, but these are mostly experimental and have yet to see widespread commercial implementation. These experimental models often have issues because of their limited data; consequently, the acceleration and deceleration can be jarring and uncomfortable to passengers. In contrast, because of our reliable sensor data, and the sensor configuration unique to the CAT Vehicle, our cruise controller will be capable of following cars at low speeds and functioning continuously, even when the car is stopped.

This project has the potential to interest automobile companies who could implement this technology in future automobiles. If our technology were to be implemented in future automobiles, it would make driving considerably more convenient for drivers. This technology could also potentially reduce the number of traffic accidents, as well as making drivers feel safer when navigating traffic. However, if errors were to occur, they could potentially put the car{\textquoteright}s passengers at risk, as well as the passengers in nearby vehicles.

Our project had a time frame of ten weeks during which we were able to model an adaptive cruise controller and test it in a simulation.

}, keywords = {Adaptive Cruise Control, stop-and-go, Vehicle Autonomy}, author = {Emily Baschab and Savannah Ball and Audrey Vazzana}, editor = {Jonathan Sprinkle} } @conference {482, title = {Safety and Stability Analysis of the FollowerStopper Traffic Wave Dampening Controller (Late-Breaking Poster)}, booktitle = {American Control Conference}, year = {2020}, month = {07}, author = {Chris Kreienkamp and Daniel Fishbein and Rahul Bhadani and Jonathan Sprinkle} } @article {477, title = {Automated Model-based Optimization of Data-Adaptable Embedded Systems}, journal = {ACM Transactions on Embedded Computing Systems}, volume = {19}, year = {2019}, month = {02/2020}, pages = {22 pages}, abstract = {

This paper presents a modeling and optimization framework that enables developers to model an application{\textquoteright}s data sources, tasks, and exchanged data tokens; specify application requirements through high-level design metrics and fuzzy logic based optimization rules; and define an estimation framework to automatically optimize the application at runtime. We demonstrate the modeling and optimization process via an example application for video-based vehicle tracking and collision avoidance. We analyze the benefits of runtime optimization by comparing the performance of static point solutions to dynamic solutions over five distinct execution scenarios, showing improvements of up to 74\% for dynamic over static configurations.

}, doi = {10.1145/3372142}, url = {https://doi.org/10.1145/3372142}, author = {Adrian Lizarraga and Jonathan Sprinkle and Roman Lysecky} } @inbook {476, title = {Feedback Control Algorithms for the Dissipation of Traffic Waves with Autonomous Vehicles}, booktitle = {Computational Intelligence and Optimization Methods for Control Engineering}, year = {2019}, pages = {275{\textendash}299}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Cham}, abstract = {

This article considers the problem of traffic control in which an autonomous vehicle is used to regulate human-piloted traffic to dissipate stop-and-go traffic waves. We first investigated the controllability of well-known microscopic traffic flow models, namely, (i) the Bando model (also known as the optimal velocity model), (ii) the follow-the-leader model, and (iii) a combined optimal velocity follow-the-leader model. Based on the controllability results, we proposed three control strategies for an autonomous vehicle to stabilize the other, human-piloted traffics. We subsequently simulate the control effects on the microscopic models of human drivers in numerical experiments to quantify the potential benefits of the controllers. Based on the simulations, finally, we conduct a field experiment with 22 human drivers and a fully autonomous-capable vehicle, to assess the feasibility of autonomous vehicle-based traffic control on real human-piloted traffic. We show that both in simulation and in the field test that an autonomous vehicle is able to dampen waves generated by 22 cars, and that as a consequence, the total fuel consumption of all vehicles is reduced by up\ to 20{\%}.

}, isbn = {978-3-030-25446-9}, doi = {10.1007/978-3-030-25446-9_12}, url = {https://doi.org/10.1007/978-3-030-25446-9_12}, author = {Maria Laura Dell Monache and Liard, Thibault and Rat, Ana{\"\i}s and Raphael E Stern and Rahul Bhadani and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work and Benedetto Piccoli}, editor = {Blondin, Maude Jos{\'e}e and Pardalos, Panos M. and Sanchis S{\'a}ez, Javier} } @conference {478, title = {A meta-metamodel for dynamic constraint feedback in modeling languages}, booktitle = {Proceedings of the 17th ACM SIGPLAN International Workshop on Domain-Specific Modeling}, year = {2019}, abstract = {

Complex design considerations of Cyber-Physical Systems (CPSs) are greatly aided through the use of high-level abstractions in a Domain-Specific Modeling Language (DSML). A DSML environment ensures that models will be correct by construction, however syntax correctness does not imply dynamic safety. Presented is an approach to define a meta-metamodel for DSML design with built in closed loop verification feedback for model correction based on dynamic constraint violations. Usage of this framework during DSML design can benefit CPSs such as autonomous vehicles by ensuring that designs are safe, through codified expert knowledge and verification tool integration. A case study is shown using a simple hybrid controller modeling language and reachability verification tools.

}, doi = {10.1145/3358501.3361239}, url = {https://doi.org/10.1145/3358501.3361239}, author = {Bunting, Matt and Sprinkle, Jonathan} } @inbook {463, title = {Model-based engineering with application to autonomy}, booktitle = {Complexity Challenges in Cyber Physical Systems: Using Modeling and Simulation (M\&S) to Support Intelligence, Adaptation and Autonomy}, year = {2019}, pages = {255-285}, publisher = {Wiley}, organization = {Wiley}, chapter = {10}, abstract = {

In this chapter we focus on where models fit into the verification and validation design cycle of autonomous cyber-physical systems. These systems typically make decisions through myriad of sensing loops, have implementations in multiple languages, and may have their logic represented in several different kinds of formal models. The use of code generation, along with software-in-the-loop and hardware-in-the-loop simulation (discussed further in Section\ 4), permits system designers to apply various agile techniques for the validation and verification of systems as requirements are implemented, tested, and demonstrated. The work in this chapter explores such a design cycle with application to autonomous driving. Examples are given for the implementation of various components that describe vehicle dynamics, control models, system identification, sensor/data acquisition, etc., which can be functionally de- scribed in models, and explored in simulation before utilizing code generation to deploy final solutions. The integration of simulation tools during functional design, software-in-the-loop testing, and hardware-in-the-loop testing, permits regression evaluation of use case scenarios. In addition to functional testing, we also describe how high-level domain- specific models can be used to include verification-in-the-loop toolboxes as part of the design cycle. All the examples in this chapter are based on an autonomous Ford Escape, which has a Robotic Operating System (ROS) API for its control and the integration of autonomous components{\textemdash}however, the results are applicable to other event-based and time-triggered middleware platforms. The implementation models in use include Simulink, MATLAB, StateFlow, and other domain-specific languages that specify high-level behaviors.

}, isbn = {978-1-119-55239-0}, author = {Rahul Bhadani and Matt Bunting and Jonathan Sprinkle} } @article {454, title = {Quantifying air quality benefits resulting from few autonomous vehicles stabilizing traffic}, journal = {Transportation Research Part D: Transport and Environment}, volume = {67}, year = {2019}, month = {02/2019}, chapter = {351}, abstract = {

It is anticipated that in the near future, the penetration rate of vehicles with some autonomous\ capabilities (e.g., adaptive cruise control, lane following, full automation, etc.) will increase on\ roadways. This work investigates the potential reduction of vehicular emissions caused by the\ whole traffic stream, when a small number of autonomous vehicles (e.g., 5\% of the vehicle\ fleet)\ are designed to stabilize the traffic\ flow and dampen stop-and-go waves. To demonstrate this,\ vehicle velocity and acceleration data are collected from a series of field experiments that use a\ single autonomous-capable vehicle to dampen traffic waves on a circular ring road with 20{\textendash}21\ human-piloted vehicles. From the experimental data, vehicle emissions (hydrocarbons, carbon\ monoxide, carbon dioxide, and nitrogen oxides) are estimated using the MOVES emissions\ model. This work\ finds that vehicle emissions of the entire\ fleet may be reduced by between 15\%\ (for carbon dioxide) and 73\% (for nitrogen oxides) when stop-and-go waves are reduced or\ eliminated by the dampening action of the autonomous vehicle in the flow of human drivers. This\ is possible if a small fraction (\~{}5\%) of vehicles are autonomous and designed to actively dampen\ traffic waves. However, these reductions in emissions apply to driving conditions under which\ stop-and-go waves are present. Less significant reductions in emissions may be realized from a deployment of AVs in a broader range of traffic conditions.

}, doi = {10.1016/j.trd.2018.12.008}, url = {https://doi.org/10.1016/j.trd.2018.12.008}, author = {Yuche Chen and Miles Churchill and Fangyu Wu and Maria Laura Dell Monache and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work} } @proceedings {455, title = {Real-Time Distance Estimation and Filtering of Vehicle Headways for Smoothing of Traffic Waves}, year = {2019}, month = {04/2019}, edition = {10}, address = {Montreal, Canada}, abstract = {

In this paper, we describe an experience report and field deployment of real-time filtering algorithms used with a robotic vehicle to smooth emergent traffic waves. When smoothing these waves in simulation, a common approach is to implement controllers that utilize headway, relative velocity and even acceleration from smooth ground truth information, rather than from realistic data. As a result, many results may be limited in their impact when considering the dynamics of the vehicle under control and the discretized nature of the laser data as well as its periodic arrival. Our approach discusses trade-offs in estimation accuracy to provide both distance and velocity estimates, with ground-truth hardware-in-the-loop tests with a robotic car. The contribution of the work enabled an experiment with 21 vehicles, including the robotic car closing the loop at up to 8.0 m/s with this filtered estimate, stressing the importance of an algorithm that can deliver real-time results with acceptable accuracy for the safety of the drivers in the experiment.

}, keywords = {autonomous vehicles, Digital Filter, simulation, Traffic}, doi = {10.1145/3302509.3314026}, url = {https://dl.acm.org/citation.cfm?doid=3302509.3314026}, author = {Rahul Bhadani and Matthew Bunting and Benjamin Seibold and Raphael E Stern and Shumo Cui and Jonathan Sprinkle and Benedetto Piccoli and Daniel B. Work} } @conference {471, title = {Safety and stability analysis of FollowerStopper}, booktitle = {CAT Vehicle Research Experience for Undergraduates}, year = {2019}, month = {08/2019}, publisher = {The University of Arizona}, organization = {The University of Arizona}, address = {Tucson}, abstract = {

In this paper, we demonstrate that the velocity controller, FollowerStopper, is safe and string unstable. FollowerStopper is a controller that is meant to be implemented on an autonomous vehicle or in an adaptive cruise control (ACC) system. Through mathematical proof, simulation in Simulink, and hardware in the loop implementation on a real autonomous vehicle through the Robot Operating System (ROS) and Gazebo, several results are achieved. It is found that an autonomous vehicle controlled by FollowerStopper will never crash. FollowerStopper will dissipate larger traffic waves from human-driven vehicles but will amplify smaller velocity perturbations that are created within the controller. Given the maximum LiDAR range of 81 m, FollowerStopper will never command a velocity greater than 13.69 m/s

}, keywords = {autonomous vehicles, control systems, intelligent transportation}, url = {http://csl.arizona.edu/content/safety-and-stability-analysis-followerstopper}, author = {Chris Kreienkamp and Daniel Fishbein and Rahul Bhadani and Jonathan Sprinkle} } @article {wu2019tracking, title = {Tracking vehicle trajectories and fuel rates in phantom traffic jams: Methodology and data}, journal = {Transportation Research Part C: Emerging Technologies}, volume = {99}, year = {2019}, pages = {82{\textendash}109}, publisher = {Elsevier}, doi = {10.1016/j.trc.2018.12.012}, url = {https://doi.org/10.1016/j.trc.2018.12.012}, author = {Fangyu Wu and Raphael E Stern and Shumo Cui and Maria Laura Dell Monache and Rahul Bhadani and Matthew Bunting and Miles Churchill and Nathaniel Hamilton and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work} } @conference {460, title = {WiP Abstract: String stability of commercial adaptive cruise control vehicles}, booktitle = {International Conference on Cyber-Physical Systems}, year = {2019}, abstract = {In this work, we conduct a series of car-following experiments with seven different ACC vehicles and use the collected data to model the car-following behavior of each vehicle. Using a linear stability analysis, the string stability of each tested vehicle is analyzed. Addition- ally, platoon experiments with platoons of up to eight identical vehicles are conducted to validate the stability findings. Previously, only one commercial ACC system has been evaluated for string stability. }, keywords = {Adaptive Cruise Control, String Stability}, doi = {10.1145/3302509.3313325}, url = {https://dl.acm.org/citation.cfm?id=3313325}, author = {George Gunter and Y. Yang and Raphael E Stern and Daniel B. Work and Maria Laura Dell Monache and Rahul Bhadani and Matt Bunting and Roman Lysecky and Jonathan Sprinkle and Benjamin Seibold and Benedetto Piccoli} } @booklet {464, title = {The Arizona Ring Experiments Dataset (ARED)}, year = {2018}, url = {http://hdl.handle.net/1803/9358}, author = {Fangyu Wu and Raphael E Stern and Shumo Cui and Maria Laura Dell Monache and Rahul Bhadani and Matthew Bunting and Miles Churchill and Nathaniel Hamilton and Fangyu Wu and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work} } @conference {448, title = {{The CAT Vehicle Testbed: A Simulator with Hardware in the Loop for Autonomous Vehicle Applications}}, booktitle = {Proceedings 2nd International Workshop on Safe Control of Autonomous Vehicles (SCAV 2018), Porto, Portugal, Electronic Proceedings in Theoretical Computer Science }, volume = {269}, year = {2018}, month = {04/2018}, type = {Workshop}, keywords = {autonomous vehicles, simulation, testbed}, doi = {10.4204/EPTCS.269.4}, author = {Rahul Bhadani and Jonathan Sprinkle and Matthew Bunting} } @proceedings {449, title = {Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller}, volume = {57}, year = {2018}, publisher = {IEEE}, address = {Fontainbleau, Miami Beach, USA}, abstract = {

This paper presents the use of a quadratic band controller in an autonomous vehicle (AV) to regulate emergent traffic waves resulting from traffic congestion. The controller dampens the emergent traffic waves through modulating its velocity according to the relative distance and velocity of the immediately preceding vehicle in the flow. At the same time, it prevents any collision within the range specified by the design parameters. The approach is based on a configurable quadratic\ band that allows smooth transitions between (i) no modification to the desired velocity; (ii) braking to match the speed of the preceding vehicle; and (iii) braking to avoid collision with\ the lead vehicle. By assuming that the lead vehicle{\textquoteright}s velocity will be oscillatory, the controller{\textquoteright}s smooth transition between\ modes permits any vehicle following the AV to have a smoother reference velocity. The configurable quadratic band allows design parameters, such as actuator and computation delays as well as the\ dynamics of vehicle deceleration, to be taken into account when constructing the controller. Experimental data, software-in-the-loop distributed simulation, and results from physical platform performance in an experiment with 21 human-driven vehicles\ are presented. Analysis shows that\ the design parameters used in constructing the quadratic band controller are met, and assumptions regarding the oscillatory nature of emergent traffic waves are valid.\ 

}, keywords = {autonomous vehicles, CPS, Traffic}, doi = {10.1109/CDC.2018.8619700}, url = {https://ieeexplore.ieee.org/document/8619700}, author = {Rahul Bhadani and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work} } @article {272, title = {Dissipation of stop-and-go waves via control of autonomous vehicles: Field experiments}, journal = {Transportation Research Part C}, volume = {89}, year = {2018}, month = {04/2018}, type = {Journal}, chapter = {205-221}, keywords = {autonomous vehicles, cyber physical systems}, doi = {10.1016/j.trc.2018.02.005}, author = {Raphael E Stern and Shumo Cui and Maria Laura Dell Monache and Rahul Bhadani and Matthew Bunting and Miles Churchill and Nathaniel Hamilton and Hannah Pohlmann and Fangyu Wu and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work} } @conference {450, title = {{A LiDAR Error Model for Cooperative Driving Simulations}}, booktitle = {IEEE Vehicular Network Conference}, year = {2018}, month = {12/2018}, publisher = {IEEE}, organization = {IEEE}, address = {Taipei, Taiwan}, abstract = {

Cooperative driving and vehicular network simulations have done huge steps toward high realism.\ They have become essential tools for performance evaluation of any kind of vehicular networking application.\ Yet, cooperative vehicular applications will not be built on top of wireless networking alone, but rather fusing together different data sources including sensors like radars, LiDARs, or cameras.\ So far, these sensors have been assumed to be ideal, i.e., without any measurement error.\ This paper analyzes a set of estimated distance traces obtained with a LiDAR\ sensor and develops a stochastic error model that can be used in cooperative driving simulations.\ After implementing the model within the PLEXE\ simulation framework, we show the impact of the model on a set of cooperative driving control algorithms.

}, keywords = {autonomous vehicles, AV, CAV, LiDAR, self-driving cars, sensor, VNC}, author = {Michele Segata and Renato Lo Cigno and Rahul Bhadani and Matthew Bunting and Jonathan Sprinkle} } @conference {Work:2017:CUE:3055378.3055380, title = {Controlling for Unsafe Events in Dense Traffic Through Autonomous Vehicles: Invited Talk Abstract}, booktitle = {Proceedings of the 1st International Workshop on Safe Control of Connected and Autonomous Vehicles}, year = {2017}, pages = {7{\textendash}7}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Sugiyama experiment, Traffic flow}, isbn = {978-1-4503-4976-5}, doi = {10.1145/3055378.3055380}, url = {http://doi.acm.org/10.1145/3055378.3055380}, author = {Daniel B. Work and Raphael E Stern and Fangyu Wu and Miles Churchill and Shumo Cui and Hannah Pohlmann and Benjamin Seibold and Benedetto Piccoli and Rahul Bhadani and Matthew Bunting and Jonathan Sprinkle and Maria Laura Dell Monache and Nathaniel Hamilton and Haulcy, R.} } @conference {469, title = {A Fuzzy based approach to Dampen Emergent Traffic Waves}, booktitle = {CAT Vehicle Research Experience for Undergraduates}, year = {2017}, month = {01/2017}, publisher = {CAT Vehicle Research Experience for Undergraduates}, organization = {CAT Vehicle Research Experience for Undergraduates}, address = {The University of Arizona}, abstract = {

Adaptive Cruise Control (ACC) and Traffic Aware Cruise Control (TACC) are recent advancements in cruise control design that allow a semi-autonomous vehicle to slow itself when approaching vehicles. The issue with these technologies is that they focus on keeping the distance from a leading vehicle constant. This may lead to unwanted dynamics in the following traffic flow, could result in the creation of traveling waves. \ This paper focuses on maintaining a reference velocity based on the relative position of the preceding vehicle instead of slowing down to maintain a certain following distance. Doing so could reduce the amount of braking the vehicles behind the autonomous vehicle will do. With this kind of technology implemented, the number and duration of traffic jams could be greatly reduced. Simulation results and tests run on the University of Arizona{\textquoteright}s Cognitive Autonomous Test (CAT) Vehicle illustrate the feasibility and success of this new controller.

}, keywords = {Autonomous Systems, Control System}, author = {R{\textquoteright}mani Haulcy and Nathaniel Hamilton and Rahul Bhadani and Jonathan Sprinkle and Daniel B. Work and Nathalie Risso and Benedetto Piccoli and Maria Laura Dell Monache and Benjamin Seibold} } @conference {olson2017, title = {Fuzzy Control of an Autonomous Car using a Smart Phone}, booktitle = {Proceedings of the 2017 IEEE International Conference on Automatica (ICA-ACCA)}, year = {2017}, pages = {1{\textendash}5}, publisher = {IEEE}, organization = {IEEE}, author = {Elizabeth A. Olson and Nathalie Risso and Adam M. Johnson and Jonathan Sprinkle} } @article {Sandoval:2017:TTS:3092956.3047498, title = {Task Transition Scheduling for Data-Adaptable Systems}, journal = {ACM Transactions on Embedded Computing Systems (TECS)}, volume = {16}, year = {2017}, pages = {105:1{\textendash}105:28}, abstract = {

Data-adaptable embedded systems operate on a variety of data streams, which requires a large degree of configurability and adaptability to support runtime changes in data stream inputs. Data-adaptable reconfigurable embedded systems, when decomposed into a series of tasks, enable a flexible runtime implementation in which a system can transition the execution of certain tasks between hardware and software while simultaneously continuing to process data during the transition. Efficient runtime scheduling of task transitions is needed to optimize system throughput and latency of the reconfiguration and transition periods. In this article, we provide an overview of a runtime framework enabling the efficient transition of tasks between software and hardware in response to changes in system inputs. We further present and analyze several runtime transition scheduling algorithms and highlight the latency and throughput tradeoffs for two data-adaptable systems. To evaluate the task transition selection algorithms, a case study was performed on an adaptable JPEG2000 implementation as well as three other synchronous dataflow systems characterized by transition latency and communication load.

}, keywords = {Data adaptability, hardware/software codesign, model-based design, runtime transition scheduling}, issn = {1539-9087}, doi = {10.1145/3047498}, url = {http://doi.acm.org/10.1145/3047498}, author = {Nathan Sandoval and Casey Mackin and Sean Whitsitt and Gopinath, Vijay Shankar and Sachidanand Mahadevan and Milakovich, Andrew and Merry, Kyle and Jonathan Sprinkle and Roman Lysecky} } @article {sprinkle266, title = {Computationally-Aware Switching Criteria for Hybrid Model Predictive Control Of Cyber-Physical Systems}, journal = {IEEE Transactions on Automation Science and Engineering}, volume = {13}, year = {2016}, month = {04/2016}, pages = {479-490}, doi = {10.1109/TASE.2016.2523341}, url = {http://dx.doi.org/10.1109/TASE.2016.2523341}, author = {Kun Zhang and Jonathan Sprinkle and Ricardo G. Sanfelice} } @conference {sprinkle298, title = {Dampening traffic waves with autonomous vehicles}, booktitle = {ITRL Conference on Integrated Transport: Connected and Automated Transport Systems}, year = {2016}, abstract = {In congested traffic, minor disturbances or fluctuations in the velocity of a single vehicle may induce dynamically evolving traffic waves such as stop-and-go waves. These waves cause vehicles upstream to slow down or stop before accelerating back to the desired speed, resulting in increases in fuel consumption and risk of collisions. This work postulates that by intelligently controlling a small number (e.g., 1-5\%) of autonomous vehicles (AVs) soon to be present in the traffic flow, it is possible to dampen or completely remove these speed fluctuations in the entire traffic stream. By only making small changes to the way the AV drives compared to human drivers near the dynamic wave, we can significantly improves the smoothness of the overall traffic flow, and reduces fuel consumption of all vehicles on the road. Due to the inherent instability of dense traffic flow, small disturbances in the speed of individual vehicles can generate large-scale disturbances in the traffic stream in the form of waves. Uncontrolled, these waves will propagate indefinitely until the traffic density decreases and the instability dissipates. This phenomenon was first experimentally demonstrated in the famous ring road experiment of Sugiyama et al., 2008. In that experiment, 22 vehicles were driven on a circular track to demonstrate that the uniform initial traffic flow (uniform speed and spacing) quickly devolves into a stop-and-go wave with vehicles at one side of the track at a complete standstill, while vehicles at the other side of the track are racing to keep up with the vehicle in front of them. To learn effective AV control strategies to dampen these traffic waves we must accurately simulate traffic in the specific conditions under which these waves arise. This will allow us to study how traffic responds to different control mechanisms implemented by the AV mathematically from a control prospective as well as in simulation. In this work, a microscopic car following model is used to simulate traffic with a mix of human-controlled and autonomous vehicles. We model human traffic flow using the combined optimal-velocity follow-the-leader (OV-FTL). This model is calibrated using trajectories of vehicles under human driving behavior such that the macroscopic quantities (average velocity, wave growth time, wave propagation speed) match those quantities observed in the Sugiyama experiment. Note that thus, the microscopic model is calibrated to reproduce real traffic waves, which is not commonly done in the traffic modelling community. Using linear stability theory, this model is shown to be unstable, since it has positive-valued eigenvalues. These manifest themselves in the form of stop-and-go waves when the calibrated model is used to simulated individual vehicle{\textquoteright}s trajectories in time. In order to calibrate more realistic models of human drivers in dense, unstable, traffic conditions, field experiments are conducted using between 12 and 22 vehicles at the University of Illinois in Urbana, Illinois to re-create the traffic waves observed in the Sugiyama experiment, and probe the state space of traffic conditions under which such traffic instabilities will arise. This data is then used to calibrate more realistic models of human driving behavior that cover a broader range of traffic conditions. All vehicles used in the experiments are equipped with onboard diagnostics (OBD-II) scanners to record the vehicle{\textquoteright}s velocity, engine speed, fuel rate, and fuel consumption throughout the experiment. This provides additional data that allows us to compare fuel consumption in traffic with stop-and-go waves to uniformly-flowing traffic. Furthermore, the trajectory of each vehicle is tracked using a 360-degree panoramic camera located at the center of the circular track. To begin, this research addresses the case of the 22-vehicle system recorded in the Sugiyama experiment and augment it by replacing one of the vehicles with an AV, which provides actuation in the system since it can be controlled to drive arbitrarily smoothly within the constraints set by the vehicle immediately in front of it. To apply linear stability theory, this augmented system is then linearized about an equilibrium traffic flow. We then use a feedback controller and pole placement to stabilize the system, and prevent traffic waves from emerging. Results from simulating the stabilized system in time indicate that a single AV using realistic control gains is able to dampen traffic waves in a 22-vehicle system without decreasing the average speed. The societal implications of this work are broad since most drivers experience delays and increased fuel consumption due to unstable and non-uniformly flowing traffic. While complete automation of the entire vehicle fleet may be many years away, in the short term, it is likely that some vehicles will be capable of driving autonomously in the near future. This research demonstrates then even with only a small percentage of vehicles driving autonomously, it is possible alter the traffic flow and prevent instabilities from arising. This results are lower fuel consumption and a shorter driving time not only for the autonomous vehicles, but all vehicles in the traffic stream.}, author = {Raphael E Stern and Fangyu Wu and Miles Churchill and Daniel B. Work and Maria Laura Dell Monache and Benedetto Piccoli and Hannah Pohlmann and Shumo Cui and Benjamin Seibold and Nathaniel Hamilton and R{\textquoteright}mani Haulcy and Rahul Bhadani and Matthew Bunting and Jonathan Sprinkle} } @proceedings {sprinkle285, title = {Model-based Fuzzy Logic Classifier Synthesis for Optimization of Data-Adaptable Embedded Systems}, year = {2016}, pages = {293-302}, address = {Hartford, CT}, doi = {10.1109/COMPSAC.2016.156}, author = {Adrian Lizarraga and Roman Lysecky and Jonathan Sprinkle} } @conference {sprinkle272, title = {Model-driven Optimization of Data-Adaptable Embedded Systems}, booktitle = {COMPSAC}, year = {2016}, pages = {293-302}, publisher = {IEEE}, organization = {IEEE}, abstract = {

Complex sensing and decision applications such as object tracking and classification, video surveillance, unmanned aerial vehicle flight decisions, and others operate on vast data streams with dynamic characteristics. As the availability and quality of the sensed data changes, the underlying models and decision algorithms should continually adapt in order to meet desired high-level requirements. Due to the complexity of such dynamic data-driven systems, traditional design time techniques are often incapable of producing a solution that remains optimal in the face of dynamically changing data, algorithms, and even availability of computational resources. To assist developers of these systems, we present a modeling and optimization methodology that enables developers to capture application task flows and data sources, define associated quality metrics with data types, specify each algorithm{\textquoteright}s data and quality requirements, and define a data quality estimation framework to optimize the application at runtime. We demonstrate each facet of the modeling and optimization process via a video-based vehicle tracking and collision avoidance application, and show how such an approach results in efficient design space exploration when selecting the optimal set of algorithm modalities. When searching for an application configuration within 1\% to 5\% of optimal, our model-guided approach can achieve speedups of up to 9.3X versus a standard genetic algorithm and speedups of up to 80X relative to a brute force algorithm.

}, doi = {10.1109/COMPSAC.2016.156}, url = {http://dx.doi.org/10.1109/COMPSAC.2016.156}, author = {Adrian Lizarraga and Roman Lysecky and Jonathan Sprinkle} } @conference {465, title = {Model-Driven Optimization of Data-Adaptable Embedded Systems}, booktitle = {2016 IEEE 40th Annual Computer Software and Applications Conference (COMPSAC)}, year = {2016}, publisher = {IEEE}, organization = {IEEE}, author = {Adrian Lizarraga and Roman Lysecky and Jonathan Sprinkle} } @proceedings {sprinkle271, title = {Power Efficient Vehicular Ad Hoc Networks}, year = {2016}, month = {03/2016}, pages = {26-31}, address = {Reston, VA}, abstract = {Inter-vehicular communication is a growing plat- form for improving roadway safety. The highly mobile nature of Vehicle to Vehicle communications causes rapid changes in network topologies and propagation conditions. Since the advent of Vehicular Ad-Hoc Networks (VANETs), over fifty routing protocols with attendant topologies have been proposed. Despite these protocols{\textquoteright} merits, many of them are not optimized for power management and frequency reuse. Our approach utilizes the one dimensional dynamic of divided highways to simplify the routing problem and reduce energy consumption. Since each car is aware of only two types of connections, up-road and down-road, we can form low power, line of sight links between adjacent vehicles. We also utilize a fuzzy logic algorithm that predicts the location of up-road cars to reduce interference from request for link signals. Once these links have been established, up-road vehicles send data down-road for a length of time based on the relative speed of the two vehicles. After this time period has expired the down-road vehicle must request additional information, restarting the timer. Data sent through the network will include information on up-road vehicles, and when required, messages such as accident notifications, alerts, and traffic warnings. Through simulation, we show that our approach to VANETs maintains its update frequency despite bumper to bumper traffic and uses two to five orders of magnitude less power than an IEEE 802.11 network with clustering and 1 mW transmit power. Overall, the network performs well and is a viable improvement to the standard.}, author = {Sterling Holcomb and Audrey Knowlton and Juan Guerra and Hamed Asadi and Haris Volos and Jonathan Sprinkle and Tamal Bose} } @conference {sprinkle284, title = {Robust Control of Autonomous Vehicle Trajectories}, booktitle = {AIMS}, year = {2016}, month = {07/2016}, abstract = {

In this paper we describe a robust treatment of tracking trajectories with an autonomous vehicle. In employing autonomous behaviors for traffic control there will inevitably be disturbances introduced through model error, non-planar surfaces, sensor noise, and delay in both sensing and actuation. We describe how we address these issues through robust control techniques. The trajectories we follow include position and orientation as part of their specification: but the most interesting aspect of these trajectories is the time-varying description of the state. This is opposed to a traditional approach of following a trajectory at any speed (with expected error in all dimensions of the state vector), as long as the speed does not exceed a maximum value. However, for traffic control to reduce traffic waves, most of the dampening approaches are time-varying trajectories. With this in mind, it becomes necessary to consider the delay of following the reference trajectory, and how this may affect drivers in the flow. We include simulation data demonstrating the results, as well as data from a full-sized robotic Ford Escape.

}, author = {Jonathan Sprinkle and Rahul Bhadani and Shumo Cui and Benjamin Seibold} } @conference {sprinkle279, title = {A Safe Autonomous Vehicle Trajectory Domain Specific Modeling Language For Non-Expert Development}, booktitle = {Proceedings of the International Workshop on Domain-Specific Modeling (DSM 2016)}, year = {2016}, pages = {42{\textendash}48}, publisher = {ACM}, organization = {ACM}, address = {Amsterdam, Netherlands}, doi = {10.1145/3023147.3023154}, url = {http://doi.acm.org/10.1145/3023147.3023154}, author = {Matthew Bunting and Yegeta Zeleke and Kennon McKeever and Jonathan Sprinkle} } @conference { cps2016wip, title = {WiP Abstract: Stabilizing traffic with a single autonomous vehicle}, booktitle = {2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS)}, year = {2016}, pages = {1-1}, doi = {10.1109/ICCPS.2016.7479130}, url = {http://dx.doi.org/10.1109/ICCPS.2016.7479130}, author = {Raphael E Stern and Daniel B. Work and Shumo Cui and Hannah Pohlmann and Benjamin Seibold and Maria Laura Dell Monache and Benedetto Piccoli and Jonathan Sprinkle} } @conference {sprinkle261, title = {Adaptive Multifactor Routing with Constrained Data Sets}, booktitle = {Wireless Innovation Forum Conference on Wireless Communication Technologies and Software Defined Radio (WInnComm)}, year = {2015}, month = {03/2015}, address = {San Diego, CA}, abstract = {

Autonomous Vehicles can benefit greatly from the use of cellular infrastructure. Consequently, it may be desirable at times to consider the availability of this infrastructure when planning autonomous vehicle routes. In order to make such decisions it is necessary to have up-to-date knowledge of signal strength in surrounding areas. We consider the quality of routing possible when using incomplete knowledge of signal strength along a route. As our motivation for how signal strength information would be constrained we consider Vehicle to Vehicle communications. Such communications offer great promise in creating real-time signal maps through a decentralized data collection and aggregation process. One might envision such a process involving the transfer of signal reception information between cars within an area. Such a process, while low-latency and low-cost, could suffer from limited data availability beyond relatively short ranges. In order to route based on signal strength we employ a weighting formula to combine distance and signal strength into a single cost quantity. Then, we apply this formula to a city grid map with signal strength information. We replace the distance values with the formula{\textquoteright}s aggregate cost values. The cost values are then presented to a shortest path routing algorithm to determine the lowest cost path. Finally, we simulate a vehicle which regularly updates a signal map of its surroundings and continuously updates its route in response. The costs of its chosen path and the cost of the ideal path are then recorded. In order to rigorously test our routing formula{\textquoteright}s performance with varying degrees of information we employ a Matlab program that randomly generates thousands of city signal maps to run the routing formula and algorithms on. The routing algorithms are run with route signal knowledge between 0\% and 100\%. We chart the average ratio between partial knowledge and full knowledge path costs. We consider the performance of a variety of algorithms and conclude that using Dijkstra we may produce routes that are 95\% optimal using a signal knowledge window only 1/10 of our total route size. These results indicate the potential for excellent routing even when V2V communication can only offer highly constrained data sets. However, the use of random maps potentially weakens our results as real world signal maps tend to be patterned and non-random. Such patterns are extremely problematic as there is great potential for scenarios that do not occur frequently in a randomly generated map and that require extensive map knowledge. For example, the need to find an exit to a signal dead-zone One might view our randomized maps as presenting the signal knowledge limited algorithm a series of local minima optimization problems. In a random map with extremely high signal value variance there is likely to be a variety of immediately visible signal dead-zones and strong signal zones that all have small sizes and are consistently intermixed. As a result, a knowledge limited algorithm can easily avoid a high cost path by moving between small strong signal zones while avoiding the interspersed dead zones with little advanced knowledge. We expect that the most relevant metric for signal formula routing performance may be the ratio between the median size of extreme signal zones and the size of the signal knowledge window. This ratio directly determines the ability of the path cost minimization algorithm to solve path cost as a series of local minima. In order to test the potential value of this metric we tweak our random map generation algorithm to assign a random signal values to increasing numbers of intersections. For example, we might assign each random value to 4x4 intersection grids. Then, we would apply that single value to 8x8 grids. This modification allows us to directly alter the size of extreme signal zones and test the performance of the routing algorithm as extreme signal zones outsize the size of the signal knowledge window

}, author = {Torger Miller and Cody Ross and Matheus Marques Barbosa and Mohammed Hirzallah and Haris Volos and Jonathan Sprinkle} } @article {zhang2015auro, title = {Computationally-Aware Control of Autonomous Vehicles: A Hybrid Model Predictive Control Approach}, journal = {Autonomous Robots}, year = {2015}, pages = {503-517}, doi = {10.1007/s10514-015-9469-5}, url = {http://dx.doi.org/10.1007/s10514-015-9469-5}, author = {Kun Zhang and Jonathan Sprinkle and Ricardo G. Sanfelice} } @proceedings {Gray:2015:2846696, title = {{DSM 2015: Proceedings of the Workshop on Domain-Specific Modeling}}, year = {2015}, publisher = {ACM}, address = {New York, NY, USA}, isbn = {978-1-4503-3903-2}, author = {Jeffrey Gray and Jonathan Sprinkle and Juka-Pekka Tolvanen and Matti Rossi} } @conference {McKeever:2015:ERC:2846696.2846706, title = {Experience Report: Constraint-based Modeling of Autonomous Vehicle Trajectories}, booktitle = {Proceedings of the Workshop on Domain-Specific Modeling}, year = {2015}, pages = {17{\textendash}22}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Autonomous Systems, cyber-physical systems, metamodeling}, isbn = {978-1-4503-3903-2}, doi = {10.1145/2846696.2846706}, url = {http://doi.acm.org/10.1145/2846696.2846706}, author = {Kennon McKeever and Yegeta Zeleke and Matthew Bunting and Jonathan Sprinkle} } @conference {sprinkle253, title = {A Hybrid Model Predictive Controller for Path Planning and Path Following}, booktitle = {International Conference on Cyber-Physical Systems (ICCPS)}, year = {2015}, month = {04/2015}, pages = {139-148}, publisher = {ACM}, organization = {ACM}, address = {Seattle, WA}, abstract = {

The use of nonlinear model-predictive methods for path planning and following has the advantage of concurrently solving problems of obstacle avoidance, feasible trajectory selection, and trajectory following, while obeying constraints on control inputs and state values.\ 
However, such approaches are computationally intensive, and may not be guaranteed to return a result in bounded time when performing a nonconvex optimization. This problem is an interesting application to cyber-physical systems due to their reliance on computation to carry out complex control.\ The computational burden can be addressed through model reduction, at a cost of potential (bounded) model error over the prediction horizon.\ In this paper we introduce a metric called uncontrollable divergence, and discuss how the selection of the model to use for the predictive controller can be addressed by evaluating this metric, which reveals the divergence between predicted and true states caused by return time and model mismatch.\ A map of uncontrollable divergence plotted over the state space gives the criterion to judge where reduced models can be tolerated when high update rate is preferred (e.g. at high speed and small steering angles), and where high-fidelity models are required to avoid obstacles or make tighter curves (e.g. at large steering angles).\ With this metric, we design a hybrid controller that switches at runtime between predictive controllers in which respective models are deployed.\ 

}, doi = {10.1145/2735960.2735966}, url = {http//dx.doi.org/10.1145/2735960.2735966}, author = {Kun Zhang and Jonathan Sprinkle and Ricardo G. Sanfelice} } @conference {sprinkle274, title = {Intersection Management via the Opportunistic Organization of Platoons by Route}, booktitle = {WinnComm 2016}, year = {2015}, abstract = {Intersections behave as a pathway for traffic redirection and play an important role in the general movement of traffic, because of this, traffic congestion is not desirable and methods to remove congestion or its effects have been implemented. Generally, congestion occurs when a group of vehicles that is large relative to available road space attempts to move through an area that cannot redirect the group effectively. The are of this paper{\textquoteright}s focus is the intersection. Some methods currently implemented to control congestion are roadway expansion, the use of adaptive traffic lights, and the use of public transportation. Good short term solutions, they only postpone the occurrence of congestion and are also costly. One way to deal with congestion is have vehicles cooperate with each other and their intersections through means of wireless communication. The vehicles can then be organized by a management system in such a way that vehicle throughput at an intersection can be maintained even at high levels of traffic congestion. A requirement of the system proposed in this paper is that all vehicles behave autonomously in order to obtain easily predictable behavior. The following describes the results of such a simulation of such a system. The data gathered over four simulations show that a higher platoon depth causes a general decrease in delay. The results between signalized and un-signalized simulations were vastly different with the un-signalized having significantly better results. The delay at a platoon depth of 9, for the unsignalized intersection, was -1.8, this brings the ideal delay to 98.2 seconds down from 100 seconds. This was due to the way intersection merging and gap threading is performed and is valid for several reasons. Because this method of intersection management desires to decrease the delay in traffic as much as possible, it would not make sense to slow down a platoon in order to perform a maneuver. The signalized method performed significantly worse than the un-signalized due to how the signalized method was implemented. Only one traffic light was green at a time, hence, whenever a platoon was stopped at intersection, that platoon would be guaranteed a delay of at most 56 seconds, which is how long a red light lasts for one signal. Though inefficient signal timing was used, we hypothesize that the behavior of a right of way system, such as a traffic light, is fundamentally flawed. By delegating the right of way to only a few lanes at a time, it is guaranteed that some vehicles will be stopped and will therefore experience delay. In order to show that the capacity of signalized intersection management through the use of traffic lights falls short when compared to un-signalized autonomous intersection management, better traffic light control methods will need to be tested in the future.}, author = {Alberto Heras and Lykes Claytor and Haris Volos and Hamed Asadi and Jonathan Sprinkle and Tamal Bose} } @conference {467, title = {Workshop Preview of the 15th Workshop on Domain Specific Modeling (DSM 2015)}, booktitle = {Companion Proceedings of the 2015 ACM SIGPLAN International Conference on Systems, Programming, Languages and Applications: Software for Humanity}, year = {2015}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-3722-9}, doi = {10.1145/2814189.2833204}, url = {http://doi.acm.org/10.1145/2814189.2833204}, author = {Jeffrey Gray and Jonathan Sprinkle and Juka-Pekka Tolvanen and Matti Rossi} } @conference {sprinkle250, title = {A Closed-loop Model-based Design Approach Based On Automatic Verification and Transformation}, booktitle = {The 14th Workshop on Domain-Specific Modeling}, year = {2014}, month = {2014}, pages = {1-6}, abstract = {

Domain-specific modeling languages effectively constrain struc- tural concepts, but constraints that are not easily captured with structural constraints are still important to fix at design time. In practice these kinds of constraints are implicitly left to be carried out by the domain modelers. This paper explores the process of in- corporating system behavioral (not just structural) constraints into a DSML, and studies the way of generating feasible transformation solutions if those constraints fail, based on a transformation library constructed in advance. Our approach is to carry out the verifica- tion process through code generation, but utilize the results of veri- fication as an input to a model transformation generator. The output transformation then operates on the original model. As a case study, we applied the approach to finite state machine (FSM) models that control a cyber-physical system.

}, doi = {10.1145/2688447.2688448}, url = {http://dx.doi.org/10.1145/2688447.2688448}, author = {Kun Zhang and Jonathan Sprinkle} } @article {107, title = {A Data-Driven Linear Approximation of HVAC Utilization for Predictive Control and Optimization}, journal = {IEEE Transactions on Control Systems Technology}, volume = {99}, year = {2014}, pages = {1}, doi = {10.1109/TCST.2014.2332873}, url = {http://dx.doi.org/10.1109/TCST.2014.2332873}, author = {Xiao Qin and Susan Lysecky and Jonathan Sprinkle} } @conference {sprinkle249, title = {Generating Model Transformations for Mending Dynamic Constraint Violations in Cyber Physical Systems}, booktitle = {The 14th Workshop on Domain-Specific Modeling}, year = {2014}, month = {2014}, pages = {35-40}, abstract = {

Cyber physical systems by definition involve design constraints addressing the computation and communication necessary to control physical systems. These systems have been modeled using domain specific modeling languages, but some limitations exist in the continued application of such a modeling approach to more complex, or safety-critical, systems. Specifically, it is well known how to formulate constraints in a domain-specific modeling language in order to prevent users from building invalid structures, but existing constraint-based techniques do not take into consideration design requirements that may require analysis in the physical domain (i.e. dynamic constraints). Those analysis results, when interpreted by a domain expert, can inform changes to the model: unfortunately, this process does not scale. This paper presents an approach to integrating dynamic constraints that cannot be enforced using structural model constraints. The technique uses expert blocks to analyze systems and generates model transformations specific to the system using the results of those analyses to fix constraint violations. The paper describes a Dynamic Constraint Feedback (DCF) methodology for integrating this technique into existing systems from a generic perspective. Specific examples in this paper are derived from the domain of data adaptable reconfigurable embedded systems (DARES).

}, doi = {10.1145/2688447.2688454}, url = {http://dx.doi.org/10.1145/2688447.2688454}, author = {Sean Whitsitt and Jonathan Sprinkle and Roman Lysecky} } @conference {sprinkle258, title = {A Heterogeneity Based Method to Identify Major Variability Components}, booktitle = {International Conference on Electronics, Communications, and Networks}, year = {2014}, month = {12/2014}, address = {Beijing}, author = {Fahd Shaikh and Wei He and Jonathan Sprinkle and K. Chen and Janet Roveda} } @conference {219, title = {A Hybrid Controller for Autonomous Vehicle Lane Changing with Epsilon Dragging}, booktitle = {American Control Conference}, year = {2014}, month = {06/2014}, pages = {5307-5312}, publisher = {IEEE}, organization = {IEEE}, address = {Portland, Oregon}, abstract = {

Trajectory control for a ground vehicle typically utilizes the error from the desired path or trajectory (i.e., crosstrack error) to produce velocity and steering commands. If an obstacle is in the path, previous techniques have synthesized a new trajectory that avoids the obstacles, and the vehicle directly follows this new path. This approach has drawbacks at high velocity, because the synthesized trajectory must satisfy the stability criteria of the vehicle. This paper introduces a technique which we call epsilon dragging The approach modifies the existing trajectory by some value ε in order to avoid an obstacle at high speeds, while preserving the original trajectory as the desired path. Epsilon dragging is performed by inducing an additional error to the crosstrack error of the vehicle; this induced error can be bounded in order to stay within the velocity/turnrate profile that governs safe behavior at high speeds. The paper provides a method to construct epsilon such that a vehicle can avoid an obstacle at high speeds without the need to verify the trajectory{\textquoteright}s curvature before it is synthesized. The technique is demonstrated in completing a lane-change maneuver at different velocities, and verifying that the velocity/turnrate profiles are not exceeded.

}, doi = {10.1109/ACC.2014.6859450}, url = {http://dx.doi.org/10.1109/ACC.2014.6859450}, author = {Sean Whitsitt and Jonathan Sprinkle} } @article {214, title = {A Modular Framework to Enable Rapid Evaluation and Exploration of Energy Management Methods in Smart Home Platforms}, journal = {Energy Systems}, year = {2014}, month = {04/2014}, pages = {Online First}, abstract = {

Numerous efforts focus on developing smart grid and smart home plat- forms to provide monitoring, management, and optimization solutions. In order to more effectively manage energy resources, a holistic view is needed; however the involved platforms are complex and require integration of a multitude of parameters such as the end-user behavior, underlying hardware components, environment, etc., many of which operate on varying time scale at various levels of detail. A general and modular framework is presented to enable designers to focus on modeling, simulating, analyzing, or optimizing specific sub-components without requiring a detailed imple- mentation across all levels. We incorporate two case studies in which the proposed framework is utilized to help an end user evaluate platform configurations given an energy usage model, as well as integrate an energy optimization module to investigate rescheduling of appliance usage times in an effort to lower cost.\ 

}, issn = {1868-3967}, doi = {10.1007/s12667-014-0121-9}, url = {http://dx.doi.org/10.1007/s12667-014-0121-9}, author = {Xiao Qin and Lin Lin and Susan Lysecky and Janet Roveda and Young-Jun Son and Jonathan Sprinkle} } @article {213, title = {Motorized mobility scooters: The Use of Training/Intervention and Technology for Improving Driving Skills in Aging Adults - A Mini-Review}, journal = {Gerontology}, volume = {60}, year = {2014}, month = {06/2014}, pages = {357-365}, doi = {10.1159/000356766}, url = {http://www.karger.com/Article/FullText/356766}, author = {Nima Toosizadeh and Matthew Bunting and Carol Howe and Jane Mohler and Jonathan Sprinkle and Bijan Najafi} } @conference {240, title = {Efficient Reconfiguration Methods to Enable Rapid Deployment of Runtime Reconfigurable Systems}, booktitle = {Asilomar Conference on Signals, Systems and Computers}, year = {2013}, month = {11/2013}, publisher = {IEEE}, organization = {IEEE}, address = {Pacific Grove, CA}, doi = {10.1109/ACSSC.2013.6810401}, url = {http://dx.doi.org/10.1109/ACSSC.2013.6810401}, author = {Roman Lysecky and Nathan Sandoval and Sean Whitsitt and Casey Mackin and Jonathan Sprinkle} } @conference {211, title = {Generating a {ROS/JAUS} Bridge for an Autonomous Ground Vehicle}, booktitle = {Proceedings of the 2013 ACM workshop on Domain-specific modeling (DSM {\textquoteright}13)}, year = {2013}, pages = {13-18}, publisher = {ACM}, organization = {ACM}, address = {Indianapolis, IN}, abstract = {

Robotic systems have truly benefitted from standardized middleware that can componentize the development of new capabilities for a robot. The popularity of these robotic middleware systems has resulted in sizable libraries of components that are now available to roboticists. However, many robotic systems (such as autonomous vehicles) must adhere to externally defined standards that are not blessed with such a large repository of components. Due to the real-time and safety concerns that accompany the domain of unmanned systems, it is not trivial to interface these middleware systems, and previous attempts to do so have succeeded at the cost of ad hoc design and implementation. This paper describes a domain-specific approach to the synthesis of a bridge between the popular Robotic Operating System (ROS) and the Joint Architecture for Unmanned Systems (JAUS). The domain-specific nature of the approach permits the bridge to be limited in scope by the application{\textquoteright}s specific messages (and their attribute mappings between JAUS/ROS), resulting in smaller code size and overhead than would be incurred by a generic solution. Our approach is validated by tests performed on an unmanned vehicle with and without the JAUS/ROS bridge.

}, keywords = {autonomous vehicles, Code Generation}, doi = {10.1145/2541928.2541931}, url = {http://dx.doi.org/10.1145/2541928.2541931}, author = {Patrick Morley and Alex Warren and Ethan Rabb and Matthew Bunting and Sean Whitsitt and Jonathan Sprinkle} } @conference {233, title = {How You Can Learn to Stop Worrying and Love Reconfigurable Embedded Systems: A Tutorial}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {213-214}, keywords = {C++ language, C/C++ code, codesign, Computers, Conferences, data streams, embedded hardware, embedded systems, Hardware, hardware tasks, hardware-software codesign, image processing algorithms, JPEG2000 standards, middleware, middleware framework, modeling infrastructure, reconfigurable embedded systems, runtime behaviors, software tasks, software tool, software tools, Transform coding, Tutorials}, doi = {10.1109/ECBS.2013.27}, author = {Nathan Sandoval and Casey Mackin and Roman Lysecky and Jonathan Sprinkle} } @conference {234, title = {Mobile Device Software: Model-Based Architectures and Examples}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {215}, keywords = {API, application program interfaces, canonical UML models, Computational modeling, computer science education, Computers, Conferences, high-level software concepts, mobile computing, mobile device apps, mobile device programming, mobile device software, Mobile handsets, model-based architectures, model-based design, model-based examples, object-oriented programming, Software, software architecture, software engineering, terminology points, Tutorials, unclear starting points, Unified modeling language}, doi = {10.1109/ECBS.2013.28}, author = {Jonathan Sprinkle} } @conference {235, title = {Model Based Development with the Skeleton Design Method}, booktitle = {20th IEEE International Conference and Workshops on the Engineering of Computer Based Systems}, year = {2013}, pages = {12-19}, doi = {10.1109/ECBS.2013.16}, url = {http://dx.doi.org/10.1109/ECBS.2013.16}, author = {Sean Whitsitt and Jonathan Sprinkle and Roman Lysecky} } @conference {231, title = {Model-Based Software Synthesis for Self-Reconfigurable Sensor Network in Water Monitoring}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {40-48}, keywords = {accelerometers, Code Generation, communication task, computation task, Computational modeling, concurrent engineering, concurrent tasks specification, control tasks, cyber-physical systems, domain-specific modeling language, drifters, embedded programming, environmental monitoring (geophysics), environmental science computing, floating sensor testbed, formal specification, Global Positioning System, GPS sensors, hand-written code, Instruction sets, mobile computing, mobile phone, mobile radio, mobile sensing platforms, model-based software synthesis, model-integrated computing, program compilers, Programming, self-reconfigurable sensor network, Smart phones, software synthesis, ubiquitous mobile device, Unified modeling language, water flow monitoring, wireless sensor networks}, doi = {10.1109/ECBS.2013.34}, url = {http://dx.doi.org/10.1109/ECBS.2013.34}, author = {Kun Zhang and Jonathan Sprinkle} } @article {j:whitsitt2012jacic, title = {Modeling Autonomous Systems}, journal = {AIAA Journal of Aerospace Information Systems}, volume = {10}, year = {2013}, pages = {396-413}, doi = {10.2514/1.I010039}, url = {http://dx.doi.org/10.2514/1.I010039}, author = {Sean Whitsitt and Jonathan Sprinkle} } @conference {241, title = {Runtime Hardware/Software Task Transition Scheduling for Runtime-Adaptable Embedded Systems}, booktitle = {International Conference on Field-Programmable Technology (ICFPT)}, year = {2013}, pages = {342-345}, doi = {10.1109/FPT.2013.6718382}, url = {http://dx.doi.org/10.1109/FPT.2013.6718382}, author = {Nathan Sandoval and Casey Mackin and Sean Whitsitt and Roman Lysecky and Jonathan Sprinkle} } @conference {232, title = {System Throughput Optimization and Runtime Communication Middleware Supporting Dynamic Software-Hardware Task Migration in Data Adaptable Embedded Systems}, booktitle = {Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the}, year = {2013}, month = {April}, pages = {59-68}, keywords = {combinatorial explosion, Data adaptability, data adaptable design methodology, data adaptable embedded systems, data configurations, data handling, Data models, data profile correlation, design time optimization, dynamic software-hardware task migration, embedded systems, Field programmable gate arrays, FIFO queues, Firing, Hardware, hardware accelerators, hardware-software codesign, hardware-software communication wrapper, hardware/software codesign, hardware/software communication middleware, heuristic programming, heuristic search methodology, middleware, model-based design, Pareto optimal configurations, Pareto optimisation, Runtime, runtime communication middleware, search problems, simulation-based methodology, system throughput optimization}, doi = {10.1109/ECBS.2013.25}, author = {Nathan Sandoval and Casey Mackin and Sean Whitsitt and Roman Lysecky and Jonathan Sprinkle} } @conference {224, title = {The 12th Workshop on Domain-specific Modeling}, booktitle = {Proceedings of the 3rd Annual Conference on Systems, Programming, and Applications: Software for Humanity}, year = {2012}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-1563-0}, doi = {10.1145/2384716.2384784}, url = {http://doi.acm.org/10.1145/2384716.2384784}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi and Jeffrey Gray} } @conference { c:milakovic2012ecbs, title = {Automated Software Generation and Hardware Coprocessor Synthesis for Data-Adaptable Reconfigurable Systems}, booktitle = {Engineering of Computer Based Systems (ECBS), 2012 IEEE 19th International Conference and Workshops on}, year = {2012}, pages = {15-23}, abstract = {

We present an overview of a data-adaptable reconfigurable embedded systems design methodology. The paper presents a novel paradigm for hardware/software code sign and reconfigurable computing driven by data-adaptability. The data-adaptable approach allows designers to directly model the data configurability of the target application, thereby enabling a solution that permits dynamic reconfiguration based on the data profile of the incoming data stream. This approach permits low-power, small form-factor hardware implementations of algorithms that might otherwise consume significant resources, or perhaps exceed the available space of the reconfigurable hardware.

}, keywords = {Data adaptability, hardware/software codesign, model-based design}, doi = {10.1109/ECBS.2012.16}, url = {http://dx.doi.org/10.1109/ECBS.2012.16}, author = {Milakovich, Andrew and Vijay Gopinath and Roman Lysecky and Jonathan Sprinkle} } @conference { c:whitsitt-ecbs-2012, title = {On the Extraction and Analysis of a Social Network with Partial Organizational Observation}, booktitle = {Proceedings of the 19th IEEE International Conference and Workshops on Engineering of Computer-Based Systems}, year = {2012}, pages = {249-256}, abstract = {

The behavior of an organization may be inferred based on the behavior of its members, their contacts, and their connectivity. One approach to organizational analysis is the construction and interpretation of a social network graph, where entities of an organization (persons, vehicles, locations, events, etc.) are nodes, and edges represent varying kinds of connectivity between entities. This paper describes a transformation based approach to the extraction of a social network graph, where the original data comprising (partial) observation of the organization are embedded on a graph with a different ontology, and with many entities and edges that are unrelated to the organization of interest. Social network extraction allows the inference of implied relationships, and the selection of relationships relevant for intended analysis techniques. The analysis of the resulting social network graph is based on organizational and individual analysis, in order to permit an advanced user to draw conclusions regarding the behavior of the organization, based on established social network graph metrics. The results of the paper include a discussion of the complexity of analysis, and how the observation data graph is pruned in order to scale the application of analysis algorithms.

}, doi = {10.1109/ECBS.2012.33}, url = {http://dx.doi.org/10.1109/ECBS.2012.33}, author = {Sean Whitsitt and Abishek Gopalan and Sangman Cho and Jonathan Sprinkle and Srinivasan Ramasubramanian and Liana Suantak and Jerzy Rozenblit} } @article { j:bart-eceasst-2012, title = {A generic in-place transformation-based approach to structured model co-evolution}, journal = {Electronic Communications of the European Association of Software Science and Technology (EASST)}, volume = {42}, year = {2012}, month = {April}, pages = {1{\textendash}13}, publisher = {ECEASST}, abstract = {In MDE not only models but also metamodels are subject to evolution. More specifically, they need to be adapted to correct errors, support new and/or update language features. The direct consequence of such evolutionary steps comprises the problem of managing the co-evolution of existing model instances, which may no longer conform to the new metamodel version. This model migration is intrinsically complex and results in a time-consuming and error-prone process if no adequate support is provided. For tackling this problem, we introduce a new technique to guide the user in solving migration issues in a step-wise manner. The aims are manifold, notably the simplification of the migration specification, the reduction of the effort for the evolver, the control of user intervention, and the optimization of the migration execution itself by allowing in-place adaptation of the existing instances.}, url = {http://journal.ub.tu-berlin.de/eceasst/article/view/608}, author = {Bart Meyers and Manuel Wimmer and Antonio Cicchetti and Jonathan Sprinkle} } @conference {w:fahd2012vmc, title = {Identifying key components of variability using Energy based Control}, booktitle = {The 2012 Workshop on Variability Modeling and Characterization (VMC)}, year = {2012}, pages = {2 pages}, abstract = {This paper proposes a method to estimate the reliability of a circuit based on the energy distribution of that circuit. A circuit with a widespread energy distribution is more unreliable in comparison with one with uniform energy distribution. A gate within a circuit that has a major contribution to energy distribution will have a greater impact on the variability within the circuit as opposed to a component with a minor contribution.}, author = {Fahd Shaikh and Wei He and Jonathan Sprinkle and Janet Meiling Wang-Roveda} } @proceedings {226, title = {ME {\textquoteright}12: Proceedings of the 6th International Workshop on Models and Evolution}, year = {2012}, publisher = {ACM}, address = {New York, NY, USA}, isbn = {978-1-4503-1798-6}, editor = {Tamzalit, Dalila and Bernhard Sch{\"a}tz and Jonathan Sprinkle and Pierantonio, Alfonso} } @article { j:sprinkle-sosym-2012, title = {Metamodel-Based Metrics for Complexity of Using a DSML}, journal = {Software and Systems Modeling}, volume = {TBD}, number = {TBD}, year = {2012}, pages = {(in preparation)}, author = {Jonathan Sprinkle} } @article { j:smc-a-camera-controller, title = {Model-Based Configuration of a Heterogeneous Human-in-the-loop Command and Control Simulation Environment}, journal = {tbd}, volume = {tbd}, number = {tbd}, year = {2012}, pages = {(in preparation)}, author = {Diyang Chu and Jacob Gulotta and Jonathan Sprinkle and Himanshu Neema and Harmon Nine and Nicholas Kottenstette and Graham Hemingway and Janos Sztipanovits} } @proceedings {228, title = {{MPM {\textquoteright}12}: Proceedings of the 6th International Workshop on Multi-Paradigm Modeling}, year = {2012}, publisher = {ACM}, address = {New York, NY, USA}, isbn = {978-1-4503-1805-1}, editor = {Hardebolle, C{\'e}cile and Syriani, Eugene and Jonathan Sprinkle and M{\'e}sz{\'a}ros, Tam{\'a}s} } @conference {239, title = {An Overseer Control Methodology for Data Adaptable Embedded Systems}, booktitle = {International Workshop on Multi-Paradigm Modeling (MPM)}, year = {2012}, month = {08/2012}, pages = {1-6}, doi = {10.1145/2508443.2508448}, url = {http://dx.doi.org/10.1145/2508443.2508448}, author = {Sean Whitsitt and Jonathan Sprinkle and Roman Lysecky} } @conference { c:whitsitt2012cdc, title = {A Passenger Comfort Controller for an Autonomous Ground Vehicle}, booktitle = {51st IEEE Conference on Decision and Control}, year = {2012}, pages = {3380-3385}, doi = {10.1109/CDC.2012.6426049}, url = {http://dx.doi.org/10.1109/CDC.2012.6426049}, author = {Sean Whitsitt and Jonathan Sprinkle} } @proceedings {225, title = {Proceedings of the 12th Workshop on Domain-specific Modeling}, year = {2012}, month = {10/2012}, publisher = {ACM}, address = {New York, NY, USA}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi and Jeffrey Gray} } @article { j:ding-aiaa-gnd-2012, title = {Reachability Calculations for Vehicle Safety during Manned/Unmanned Vehicle Interaction}, journal = {AIAA Journal of Guidance, Control, and Dynamics}, volume = {35}, number = {1}, year = {2012}, pages = {138-152}, doi = {10.2514/1.53706}, url = {http://dx.doi.org/10.2514/1.53706}, author = {Jerry Ding and Jonathan Sprinkle and Claire Tomlin and S. Shankar Sastry and James L. Paunicka} } @conference {227, title = {Summary of the 6th International Workshop on Multi-Paradigm Modeling (MPM{\textquoteright}12)}, booktitle = {Proceedings of the 6th International Workshop on Multi-Paradigm Modeling}, year = {2012}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {heterogeneous modeling, metamodeling, model driven engineering, multi-modeling, multi-paradigm modeling}, isbn = {978-1-4503-1805-1}, doi = {10.1145/2508443.2508444}, url = {http://doi.acm.org/10.1145/2508443.2508444}, author = {Hardebolle, C{\'e}cile and Syriani, Eugene and Jonathan Sprinkle and M{\'e}sz{\'a}ros, Tam{\'a}s} } @article {j:eklund-tcst-peg, title = {Switched and Symmetric Pursuit/Evasion Games With Online Model Predictive Control}, journal = {IEEE Transactions on Control Systems Technology}, volume = {20}, number = {3}, year = {2012}, pages = {604-620}, abstract = {

This paper describes a supervisory controller for pursuit and evasion of two fixed-wing autonomous aircraft. Novel contributions of the work include the real-time use of model- predictive control, specifically nonlinear model predictive tracking control, for predictions of the vehicle under control, as well as predictions for the adversarial aircraft. In addition to this inclusion, the evasive controller is a hybrid system, providing switching criteria to change modes to become a pursuer based on the current and future state of the vehicle under control, and that of the adversarial aircraft. Results of the controller for equally matched platforms in actual flight tests against a US Air Force trained F-15 test pilot are given. Extensive simulation analysis of the symmetric games is provided, including regressive analysis based on initial conditions of height advantage, and relative velocity vectors, and in particular the effect of allowing the evading aircraft to switch modes between "evader" and "pursuer" during the game.

}, doi = {10.1109/TCST.2011.2136435}, url = {http://dx.doi.org/10.1109/TCST.2011.2136435}, author = {J. Mikael Eklund and Jonathan Sprinkle and S. Shankar Sastry} } @conference {222, title = {The 11th Workshop on Domain-specific Modeling}, booktitle = {Proceedings of the ACM International Conference Companion on Object Oriented Programming Systems Languages and Applications Companion}, year = {2011}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-0942-4}, doi = {10.1145/2048147.2048227}, url = {http://doi.acm.org/10.1145/2048147.2048227}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi and Jeffrey Gray} } @conference {466, title = {The 11th Workshop on Domain-specific Modeling}, booktitle = {Proceedings of the Compilation of the Co-located Workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE! 2011, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \& VMIL{\textquoteright}11}, year = {2011}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {Code Generation, domain-specific languages, metamodeling, modeling languages}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095052}, url = {http://doi.acm.org/10.1145/2095050.2095052}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Jeffrey Gray and Matti Rossi} } @conference {w:jones-dsm-2011, title = {{autoVHDL: a domain-specific modeling language for the auto-generation of VHDL core wrappers}}, booktitle = {Proceedings of the compilation of the co-located workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE!{\textquoteright}11, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \&\#38; VMIL{\textquoteright}11}, series = {SPLASH {\textquoteright}11 Workshops}, year = {2011}, pages = {71{\textendash}76}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, abstract = {

Reconfigurable embedded hardware is a staple of many applications in defense technology and applied engineering. The integration of various embedded hardware "cores" (i.e., the computing units) is complicated by the unintended complexities inherent in the consistent and correct construction of communication pathways{\textendash}-specified using VHDL. This paper presents a domain-specific modeling approach to reducing this complexity. The results include demonstration of the tool, where generated VHDL code with complex data and processing requirements is simulated.

}, keywords = {code synthesis, domain-specific modeling, embedded systems, reconfigurable computing}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095063}, url = {http://dx.doi.org/10.1145/2095050.2095063}, author = {Erica Jones and Jonathan Sprinkle} } @conference { w:whitsitt-neat-2011, title = {Constrained data acquisition for mobile citizen science applications}, booktitle = {Proceedings of the compilation of the co-located workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE!{\textquoteright}11, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \& VMIL{\textquoteright}11}, series = {SPLASH {\textquoteright}11 Workshops}, year = {2011}, pages = {267{\textendash}272}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, abstract = {

The popularity and ubiquity of personal mobile computing devices{\textendash}-coupled with their powerful sensing capabilities{\textendash}-allow their application in the structured collection of data for societal benefit and science applications. Citizen scientists are willing users and active contributors to scientific research and applications, but if they gather data in an unconstrained or ad hoc manner, their efforts may be of little scientific value. In this paper, we present a user interface for a mobile device which is properly constrained to permit the gathering of valid scientific data. This helps to achieve the goal that any individual with a basic familiarity of the device (but not of the science) should be able to obtain useful data with little learning required. As a use case for this concept, we present a mobile application that allows users to collect location-stamped images to supplement satellite data for climate change research.

}, keywords = {citizen scientist, domain-specific modeling, iphone, mobile phone programming}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095095}, url = {http://dx.doi.org/10.1145/2095050.2095095}, author = {Sean Whitsitt and Armando Barreto and Maribel Hudson and Hussain Al-Helal and Diyang Chu and Kamel Didan and Jonathan Sprinkle} } @conference { c:sachi-ecbs-2011, title = {Hardware/Software Communication Middleware for Data Adaptable Embedded Systems}, booktitle = {Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems}, year = {2011}, pages = {34-43}, publisher = {IEEE Computer Society Press}, organization = {IEEE Computer Society Press}, abstract = {

Recent trends toward increased flexibility and configurability in emerging applications present demanding challenges for implementing systems that incorporate such capabilities. The resulting application configuration space is generally much larger than any one hardware implementation can support. We provide an overview of a new data-adaptive approach to the rapid design and implementation of such highly configurable applications. In support of this data-adaptable approach, we present and detail an efficient and flexible hardware/software communication middleware to support the seamless communication between hardware and software tasks at runtime. We highlight the flexibility of this interface and present an initial case study and results demonstrating the performance capabilities and area requirements.

}, doi = {10.1109/ECBS.2011.12}, url = {http://dx.doi.org/10.1109/ECBS.2011.12}, author = {Sachidanand Mahadevan and Vijay Gopinath and Roman Lysecky and Jonathan Sprinkle and Jerzy Rozenblit and Michael Marcellin} } @conference { w:whitsitt-ecbs-mbd-2011, title = {Message Modeling for the Joint Architecture for Unmanned Systems (JAUS)}, booktitle = {Proceedings of the 8th IEEE Workshop on Model-Based Development for Computer-Based Systems}, year = {2011}, month = {April}, pages = {251{\textendash}259}, abstract = {The Joint Architecture for Unmanned Systems (JAUS) is a standard for sensing, control, and computational communication of components for unmanned systems. This paper presents a modeling environment capable of producing a domain-specific prototype of the software necessary for inter-computer communications. A metamodel is used to provide the domain-specific modeling language to model both the messages used in JAUS, and the shell interfaces for components that transmit and receive those messages. The produced artifacts are C and C++ code that can be used in unmanned systems and simulations of such systems, including tests that validate the structure and behavior of the generated code. The generated code is compatible with standard JAUS implementations, and is validated using the OpenJAUS open source API and framework. Future work describes the second spiral of features and behaviors (currently in the design phase). The case study and test environment for the software generated by this project is an autonomous ground vehicle, modeled on a Ford Escape Hybrid that is used in laboratory experiments.}, doi = {10.1109/ECBS.2011.17}, url = {http://dx.doi.org/10.1109/ECBS.2011.17}, author = {Sean Whitsitt and Jonathan Sprinkle} } @conference { c:sprinkle-multicore, title = {On the Mitigation of MultiCore-Induced Behavioral Deviations of an Autonomous Ground Vehicle}, booktitle = {Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems}, year = {2011}, pages = {159-168}, publisher = {IEEE}, organization = {IEEE}, abstract = {

Complex systems such as autonomous vehicles frequently utilize a distributed network of computers for sensing, control, and supervisory tasks. A common way to abstract the deployment of the computational nodes that implement the system{\textquoteright}s behavior is through the utilization of middleware, which treats each atomic processing element as a component. Multiple components may execute on a single node, and nodes are typically heterogeneous in their processing power. For component implementations that use an event-driven model of computation, however, significant behavioral deviations may occur when a single-core computational node is replaced with a multicore node, especially if that computational node is running more than one component. This paper discusses the observed behavioral deviations through a series of simulations with identical initial conditions, performed on various single core and multicore processing platforms. In addition to the empirical demonstration, the paper provides a technique to mitigate the behavioral deviations by inserting a time-triggered buffer between a key set of components, enforcing a loosely time-triggered execution even though the system is still defined through event-triggered components. This preserves existing legacy code, but provides a time-triggered execution.

}, doi = {10.1109/ECBS.2011.29}, url = {http://dx.doi.org/10.1109/ECBS.2011.29}, author = {Jonathan Sprinkle and Brandon Eames} } @conference { w:vijay-ecbs-mbd-2011, title = {Modeling of Data Adaptable Reconfigurable Embedded Systems}, booktitle = {Proceedings of the 8th IEEE Workshop on Model-Based Development for Computer-Based Systems}, year = {2011}, month = {April}, pages = {276-285}, abstract = {

Many applications require high flexibility, high configurability and high processing speeds. The physical constraints of a highly flexible system{\textquoteright}s hardware implementation preclude a hardware solution that satisfies all configuration options. Similarly for pure software implementations, even if configurability is satisfied, process efficiency will be sacrificed. Thus for applications of any significant size, there can be no single hardware or software configuration that can efficiently support all the configurability options of the applications. The Data-Adaptable Reconfigurable Embedded System (DARES) approach tackles this problem through combination of the hardware-software co-design and reconfigurable computing methodologies. Data-adaptability means that as data streams change, the system is reconfigured along the baselines defined within the system{\textquoteright}s specifications. In this project we use the concepts of Model-Integrated Computing to implement a domain-specific modeling language for the DARES approach. The language captures all the configurability options of the application task(s), performs design-space exploration, and provides a template for source code generation.

}, doi = {10.1109/ECBS.2011.31}, url = {http://dx.doi.org/10.1109/ECBS.2011.31}, author = {Vijay Gopinath and Jonathan Sprinkle and Roman Lysecky} } @proceedings {223, title = {Proceedings of the 11th Workshop on Domain-Specific Modeling}, year = {2011}, publisher = {ACM}, address = {Portland, OR}, author = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi and Jeffrey Gray} } @proceedings {229, title = {Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems}, year = {2011}, month = {2011}, pages = {292}, publisher = {IEEE Computer Society}, address = {Las Vegas, NV}, author = {Jonathan Sprinkle and Sterritt, Roy and Breitman, Karin} } @conference { w:hudson-ecbs-mbd-2011, title = {Simplification of Semantically-Rich Model Transformations Through Generated Transformation Blocks}, booktitle = {Proceedings of the 8th IEEE Workshop on Model-Based Development for Computer-Based Systems}, year = {2011}, month = {April}, pages = {260-268}, abstract = {This paper demonstrates a novel concept for the simplification of model transformations in which composite or complex objects are inserted into an existing model through a well-defined interface. The technique utilizes a model transformation from the domain of the modeling language into the domain of model transformation languages. The user specifies these semantically rich blocks using the original domain-specific modeling language. Then, a transformation generates the necessary model transformation graph to create an instance of the semantically rich, user-defined pattern. Users insert these generated patterns into their customized transformations. The approach is helpful for endogenous transformations in which existing objects may be refactored. It will also serve as a teaching tool for users who are unfamiliar with model transformations: specifically how to represent a newly-created model in the transformation domain. Finally, the approach is designed to reduce specification errors of model transformations in which new (semantically rich) blocks are inserted at key points, as the correctness of the semantically rich blocks is guaranteed, based on their construction in the original domain.}, doi = {10.1109/ECBS.2011.28}, url = {http://dx.doi.org/10.1109/ECBS.2011.28}, author = {Maribel Hudson and Jonathan Sprinkle} } @conference { w:sprinkle-neat-2011, title = {Teaching students to learn to learn mobile phone programming}, booktitle = {Proceedings of the compilation of the co-located workshops on DSM{\textquoteright}11, TMC{\textquoteright}11, AGERE!{\textquoteright}11, AOOPES{\textquoteright}11, NEAT{\textquoteright}11, \&\#38; VMIL{\textquoteright}11}, series = {SPLASH {\textquoteright}11 Workshops}, year = {2011}, pages = {261{\textendash}266}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, abstract = {This paper describes experiences of the instructor of a course dealing with mobile phone programming. This instance of the course (offered yearly since 2010) reuses the academic content of a traditional software engineering course, but requires mobile phone application development for concrete deliverables that exemplify competency of the academic concepts of the course. The paper describes the tradeoffs between teaching the material vs. students learning the material, group dynamics and constraints, as well as technical recommendations for faculty who are considering offering a course that concentrates on mobile phone applications.}, keywords = {learning styles, mobile phone programming, software engineering}, isbn = {978-1-4503-1183-0}, doi = {10.1145/2095050.2095094}, url = {http://dx.doi.org/10.1145/2095050.2095094}, author = {Jonathan Sprinkle} } @article { j:sprinkle-isse-2011, title = {Time-Triggered Buffers for Event-Based Middleware Systems}, journal = {Innovations in Systems and Software Engineering}, volume = {7}, number = {1}, year = {2011}, pages = {9{\textendash}22}, publisher = {Springer London}, abstract = {

Application developers utilizing event-based middleware have sought to leverage domain-specific modeling for the advantages of intuitive specification, code synthesis, and support for design evolution. For legacy and cyber-physical systems, the use of event-based middleware may mean that changes in computational platform can result anomalous system behavior, due to the presence of implicit temporal dependencies. These anomalies are a function not of the component implementation, but of the model of computation employed for supporting system composition. In order to address these behavioral anomalies, the paper presents an approach where time-based blocks are inserted into the system to account for the temporal dependencies. An advantage of capturing the system composition in a domain-specific modeling language is the ability to efficiently refactor an application to include time-triggered, event-based schedulers. This paper describes how an existing event-based component topology can be modified to permit a time triggered model of computation, with no changes to the existing component software. Further, the time-triggered components can be deployed alongside standard publish/subscribe methodologies. This strategy is beneficial to the maintenance of existing legacy systems upon upgrade, since the current operational mode could be maintained with minimal changes to the legacy software even under changes to the target platform which alter execution speed. These time-triggered layers are discussed in three permutations: fully triggered, start triggered and release triggered. A discussion is provided regarding the limitations of each approach, and a brief example is given. The example shows how to apply these triggering approaches without the modification of existing components, but instead through the insertion of triggered buffers between legacy components.

}, issn = {1614-5046}, doi = {10.1007/s11334-010-0139-7}, url = {http://dx.doi.org/10.1007/s11334-010-0139-7}, author = {Jonathan Sprinkle and Brandon Eames} } @proceedings {p:DSM10, title = {10th Workshop on Domain-Specific Modeling ({DSM}{\textquoteright}10)}, year = {2010}, note = {{ISBN}: 978-952-60-1043-4}, month = {October}, publisher = {OOPSLA/SPLASH}, editor = {Matti Rossi and Juka-Pekka Tolvanen and Jonathan Sprinkle and Steven Kelly} } @conference {Sprinkle:2010:AME:2060329.2060359, title = {Analysis of a metamodel to estimate complexity of using a domain-specific language}, booktitle = {Proceedings of the 10th Workshop on Domain-Specific Modeling}, series = {DSM {\textquoteright}10}, year = {2010}, pages = {13:1{\textendash}13:6}, publisher = {ACM}, organization = {ACM}, address = {New York, NY, USA}, keywords = {metamodel, metric, usability, user interface}, isbn = {978-1-4503-0549-5}, doi = {10.1145/2060329.2060359}, url = {http://dx.doi.org/10.1145/2060329.2060359}, author = {Jonathan Sprinkle} } @conference {c:whitsitt-prose-2010, title = {Citizen Science in Support of Vegetation Index and Phenology Research}, booktitle = {Phenology Research and Observations of Southwest Ecosystems Symposium (PROSE)}, year = {2010}, month = {October}, abstract = {

Vegetation indices (VIs) are simple transformations of images into proxy measures of greenness and vegetation health and change over time. They are also used to derive information about the land surface phenology status, providing extensive spatial coverage and direct support for global ecosystem models. These measurements however contain large uncertainties and errors. A new suite of mobile devices, equipped with geo-location, image capture, and transmission capabilities could aid with vegetation phenology observations and documentation. The iPhone, with its wide distribution and array of sensors, can contribute significantly to the field of citizen science. In this project we are developing an end-to-end system for the collection, processing, and visualization of land surface vegetation phenology. The system consists of a client-server application and a Google Earth based visualization model. The client side (an iPhone app) intuitively guides the observer to capture up to three images per location: a close-up image of leaves, flowers, or fruits, an individual plant image, and a panoramic landscape image. The iPhone automatically embeds location, orientation, date/time, and other metadata with the images and allows the observer to add text comments. The images are then transmitted to the server, where they are validated, post-processed, archived, and made available to the interactive visualization system. The images are separated into primary colors and processed into a greenness index comparable to the classical VI. These measurements are then plotted against satellite based VI time series to aid in their validation and the characterization of the location phenology. With this effort we hope to recruit global observers into contributing to the field of land surface vegetation change detection and characterization.

}, author = {Sean Whitsitt and Armando Barreto and Sundaresh Ram and Hussain Al-Helal and Maribel Hudson and Diyang Chu and Jonathan Sprinkle and Kamel Didan} } @inbook { j:sprinkle-mbeerts4-2009, title = {Metamodelling}, booktitle = {Model-Based Engineering of Embedded Real-Time Systems}, series = {Lecture Notes in Computer Science}, volume = {6100}, year = {2010}, pages = {59{\textendash}78}, publisher = {Springer}, organization = {Springer}, chapter = {4}, url = {http://www.springer.com/computer/swe/book/978-3-642-16276-3}, author = {Jonathan Sprinkle and Bernhard Rumpe and Hans Vangheluwe and G{\'a}bor Karsai} } @inbook { j:levendovszky-mbeerts14-2009, title = {Model Evolution and Management}, booktitle = {Model-Based Engineering of Embedded Real-Time Systems}, series = {Lecture Notes in Computer Science}, volume = {6100}, year = {2010}, pages = {243{\textendash}272}, publisher = {Springer}, organization = {Springer}, chapter = {10}, url = {http://www.springer.com/computer/swe/book/978-3-642-16276-3}, author = {T{\'\i}hamer Levendovszky and Bernhard Rumpe and Bernhard Sch{\"a}tz and Jonathan Sprinkle and Hans Vangheluwe} } @conference { c:sprinkle-ease-2010, title = {Modeling Languages Applied to Decision Controllers for Embedded Human Systems}, booktitle = {Seventh IEEE International Conference and Workshops on Engineering of Autonomic and Autonomous Systems (EAsE 2010)}, year = {2010}, month = {March}, pages = {129{\textendash}136}, publisher = {IEEE}, organization = {IEEE}, doi = {10.1109/EASe.2010.24}, url = {http://dx.doi.org/10.1109/EASe.2010.24}, author = {Jonathan Sprinkle and Diyang Chu} } @article { j:chu-ijmav-2010, title = {Simulations and Flight Experiments of Transition Maneuvers of a {VTOL} Micro Air Vehicle}, journal = {International Journal of Micro Air Vehicles}, volume = {2}, number = {2}, year = {2010}, note = {{ISSN} 1756-8293}, month = {June}, pages = {69{\textendash}89}, doi = {10.1260/1756-8293.2.2.69}, url = {http://dx.doi.org/10.1260/1756-8293.2.2.69}, author = {Diyang Chu and Jonathan Sprinkle and Ryan Randall and Sergey Shkarayev} } @conference { c:alhelal-ecbs-2010, title = {{UAV} Search : Maximizing Target Acquisition}, booktitle = {17th IEEE Conference on the Engineering of Computer Based Systems}, year = {2010}, month = {March}, pages = {9{\textendash}19}, publisher = {IEEE}, organization = {IEEE}, doi = {10.1109/ECBS.2010.9}, url = {http://dx.doi.org/10.1109/ECBS.2010.9}, author = {Hussain Al-Helal and Jonathan Sprinkle} } @proceedings {p:DSM09, title = {9th {OOPSLA} Workshop on Domain-Specific Modeling ({DSM}{\textquoteright}09)}, year = {2009}, note = {ISBN: 978-952-488-371-9}, month = {October}, publisher = {OOPSLA}, url = {http://hsepubl.lib.hse.fi/FI/publ/hse/b108}, editor = {Matti Rossi and Jonathan Sprinkle and Jeffrey Gray and Juka-Pekka Tolvanen} } @conference { c:chu-gnc-2009, title = {Automatic Control of {VTOL} Micro Air Vehicle During Transition Maneuver}, booktitle = {AIAA Guidance, Navigation and Control Conference}, year = {2009}, note = {{AIAA-2009-5875}}, month = {August}, pages = {16 pages}, publisher = {AIAA}, organization = {AIAA}, url = {http://pdf.aiaa.org/preview/CDReadyMGNC09_1998/PV2009_5875.pdf}, author = {Diyang Chu and Jonathan Sprinkle and Ryan Randall and Sergey Shkarayev} } @article {HCTCPS, title = {A Community Report of the 2008 High Confidence Transportation Cyber-Physical Systems {(HCTCPS)} Workshop}, year = {2009}, month = {July 22}, address = {High Confidence Transportation Cyber-Physical Systems (HCTCPS)}, url = {http://www.ee.washington.edu/research/nsl/aar-cps/}, author = {Radha Poovendran and Raj Rajkumar and David Corman and Jim Paunicka and William P. Milam and K Venkatesh Prasad and Shige Wang and Jim Barhorst and Christopher Gill and Sandeep Gupta and Krishna Sampigethaya and Jonathan Sprinkle and Doug Stuart and Wayne Wolf and Rahul Mangharam} } @article {tr:sprinkle-tse-2009, title = {Fundamental Limitations in Domain-Specific Language Evolution}, number = {TR-090831}, year = {2009}, month = {August}, publisher = {University of Arizona}, address = {1230 E. Speedway Blvd., Bldg. 104}, abstract = {

In this paper we address language engineering issues surrounding domain-specific modeling languages (DSMLs). By definition, such languages track the domain, meaning that changes to the domain require changes to the DSML in order to provide an intuitive specification of domain-specific programs or models. For this work, our primary focus is on fundamental limitations that affect the preservation of semantics during domain model evolution. We specifically address fundamental limitations in semantics-preserving transformations, and/or the implementation of algorithms that specify such transformations. This work has profound implications for language engineers who are planning for the maintenance of models, or designing model transformations for the purpose of preserving semantics. We provide a brief representative example from the discipline of hybrid systems, where such results can be interpreted.

}, url = {http://www.ece.arizona.edu/~sprinkjm/wiki/uploads/Publications/sprinkle-tse2009-domainevolution-submitted.pdf}, author = {Jonathan Sprinkle and Jeffrey Gray and Marjan Mernik} } @article { j:sprinkle-software-2009, title = {Guest Editors{\textquoteright} Introduction: What Kinds of Nails Need a Domain-Specific Hammer?}, journal = {IEEE Software}, volume = {26}, number = {4}, year = {2009}, pages = {15-18}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, issn = {0740-7459}, doi = {10.1109/MS.2009.92}, url = {http://dx.doi.org/10.1109/MS.2009.92}, author = {Jonathan Sprinkle and Marjan Mernik and Juka-Pekka Tolvanen and Diomidis Spinellis} } @conference { w:sprinkle-oopsla-2009, title = {Model-Based Autosynthesis of Time-Triggered Buffers for Event-Based Middleware Systems}, booktitle = {9th OOPSLA Workshop on Domain-Specific Modeling}, year = {2009}, month = {October}, pages = {119{\textendash}124}, url = {http://www.dsmforum.org/events/DSM09/Papers/Sprinkle.pdf}, author = {Jonathan Sprinkle and Brandon Eames} } @article { j:sprinkle-sosym-2009, title = {Model-based design: a report from the trenches of the {DARPA} Urban Challenge}, journal = {Software and Systems Modeling}, volume = {8}, number = {4}, year = {2009}, month = {September}, pages = {551-566}, publisher = {Springer Berlin / Heidelberg}, abstract = {The impact of model-based design on the software engineering community is impressive, and recent research in model transformations, and elegant behavioral specifications of systems has the potential to revolutionize the way in which systems are designed. Such techniques aim to raise the level of abstraction at which systems are specified, to remove the burden of producing application-specific programs with general-purpose programming. For complex real-time systems, however, the impact of model-driven approaches is not nearly so widespread. In this paper, we present a perspective of model-based design researchers who joined with software experts in robotics to enter the DARPA Urban Challenge, and to what extent model-based design techniques were used. Further, we speculate on why, according to our experience and the testimonies of many teams, the full promises of model-based design were not widely realized for the competition. Finally, we present some thoughts for the future of model-based design in complex systems such as these, and what advancements in modeling are needed to motivate small-scale projects to use model-based design in these domains.}, issn = {1619-1366 (Print) 1619-1374 (Online)}, doi = {10.1007/s10270-009-0116-5}, url = {http://dx.doi.org/10.1007/s10270-009-0116-5}, author = {Jonathan Sprinkle and J. Mikael Eklund and Humberto Gonzalez and Esten Ingar Gr{\o}tli and Ben Upcroft and Alex Makarenko and Will Uther and Michael Moser and Robert Fitch and Hugh Durrant-Whyte and S. Shankar Sastry} } @article { j:schuster-eceasst-2009, title = {Synthesizing Executable Simulations from Structural Models of Component-Based Systems}, journal = {Electronic Communications of the European Association of Software Science and Technology (EASST)}, volume = {21}, year = {2009}, note = {{ISSN} 1863-2122}, pages = {10 pages}, url = {http://eceasst.cs.tu-berlin.de/index.php/eceasst/article/view/289/280}, author = {Andreas Schuster and Jonathan Sprinkle} } @conference { c:gulotta-ecbs-2009, title = {Using Integrative Models in an Advanced Heterogeneous System Simulation}, booktitle = {IEEE International Conference on the Engineering of Computer-Based Systems}, year = {2009}, pages = {3-10}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, isbn = {978-0-7695-3602-6}, doi = {10.1109/ECBS.2009.42}, url = {http://doi.ieeecomputersociety.org/10.1109/ECBS.2009.42}, author = {Jacob Gulotta and Diyang Chu and Ximing Yu and Hussain Al-Helal and Tapasya Patki and Jason Hansen and Maribel Hudson and Jonathan Sprinkle} } @proceedings {p:DSM08, title = {8th {OOPSLA} Workshop on Domain-Specific Modeling ({DSM}{\textquoteright}08)}, year = {2008}, note = {{ISBN: 978-0-61523-024-5}}, month = {October}, publisher = {OOPSLA}, url = {http://www.dsmforum.org/events/DSM08/Papers/DSM08-proceedings.pdf}, editor = {Jeffrey Gray and Jonathan Sprinkle and Matti Rossi and Juka-Pekka Tolvanen} } @conference {DingSprinkleSastryTomlin2008, title = {Reachability Calculations for Automated Aerial Refueling}, booktitle = {47th IEEE Conference on Decision and Control}, year = {2008}, month = {December}, pages = {3706-3712}, doi = {10.1109/CDC.2008.4738998}, url = {http://dx.doi.org/10.1109/CDC.2008.4738998}, author = {Jerry Ding and Jonathan Sprinkle and S. Shankar Sastry and Claire J. Tomlin} } @article {SprinkleEklundGonzalezGrotliSanketiMoserSastry2008, title = {Recovering Models of a Four-Wheel Vehicle Using Vehicular System Data}, year = {2008}, month = {August}, publisher = {University of California, Berkeley}, abstract = {

This paper discusses efforts to parameterize the actuation models of a four-wheel automobile for the purposes of closed-loop control. As a novelty, the authors used the equipment already available or in use by the vehicle, rather than expensive equipment used solely for the purpose of system identification. After rudimentary measurements were taken of wheelbase, axle width, etc., the vehicle was driven and data were captured using a controller area network (CAN) interface. Based on this captured data, we were able to estimate the feasibility of certain closed-loop controllers, and the models they assumed (i.e., linear, or nonlinear) for control. Examples were acceleration and steering. This work served to inform the separation of differences in simulation and vehicle behavior during vehicle testing.

}, url = {http://chess.eecs.berkeley.edu/pubs/405.html}, author = {Jonathan Sprinkle and J. Mikael Eklund and Humberto Gonzalez and Esten Ingar Gr{\o}tli and Pannag R Sanketi and Michael Moser and S. Shankar Sastry} } @conference {c:gonzalezAAET2008, title = {Transitioning Control and Sensing Technologies from Fully-autonomous Driving to Driver Assistance Systems}, booktitle = {AAET: Automation, Assistance, and Embedded Systems for Transportation}, year = {2008}, month = {February 13{\textendash}14}, publisher = {Technical University, Braunschweig}, organization = {Technical University, Braunschweig}, author = {Humberto Gonzalez and Esten I. Gr{\o}tli and Todd R. Templeton and Jan O. Biermeyer and Jonathan Sprinkle and S. Shankar Sastry} } @conference { w:patki-oopsla-2008, title = {Using Integrative Modeling for Advanced Heterogeneous System Simulation}, booktitle = {The 8th OOPSLA Workshop on Domain-Specific Modeling}, year = {2008}, month = {October 19-20}, pages = {80-85}, url = {http://www.dsmforum.org/events/DSM08/Papers/14-Patki.pdf}, author = {Tapasya Patki and Hussain Al-Helal and Jacob Gulotta and Jason Hansen and Jonathan Sprinkle} } @proceedings {p:DSM07, title = {7th {OOPSLA} Workshop on Domain-Specific Modeling ({DSM}{\textquoteright}07)}, year = {2007}, note = {ISBN: 978-951-39-2915-2}, month = {October}, publisher = {OOPSLA}, address = {Jyv{\"a}skyl{\"a}, Finland}, url = {http://www.dsmforum.org/events/DSM07/Papers.html}, editor = {Jonathan Sprinkle and Jeffrey Gray and Matti Rossi and Juka-Pekka Tolvanen} } @article {tr:sbdt2007, title = {DARPA Urban Challenge Technical Paper: Sydney-Berkeley Driving Team}, year = {2007}, month = {June}, publisher = {University of Sydney; University of Technology, Sydney; University of California, Berkeley}, url = {http://chess.eecs.berkeley.edu/pubs/379.html}, author = {Ben Upcroft and Michael Moser and Alexi Makarenko and David Johnson and Ashod Donikan and Alen Alempijevic and Robert Fitch and William Uther and Jan Biermeyer and Humberto Gonzalez and Esten Ingar Gr{\o}tli and Todd Templeton and Vason P. Srini and Jonathan Sprinkle} } @inbook {cont:DSMBookChapter, title = {Domain-Specific Modeling}, booktitle = {Handbook of Dynamic System Modeling}, year = {2007}, note = {ISBN: 1584885653}, pages = {7-1{\textendash}7-20}, publisher = {Chapman \& Hall/CRC}, organization = {Chapman \& Hall/CRC}, chapter = {7}, author = {Jeffrey Gray and Juka-Pekka Tolvanen and Steven Kelly and Aniruddha Gokhale and Sandeep Neema and Jonathan Sprinkle}, editor = {Paul A. Fishwick} } @conference {c:EklundAVT2007, title = {Transitioning Intelligence to Embedded Platforms}, booktitle = {AVT-146 Symposium on "Platform Innovations and System Integration for Unmanned Air, Land and Sea Vehicles"}, series = {Applied Vehicle Technology}, year = {2007}, month = {May}, publisher = {NATO}, organization = {NATO}, url = {http://handle.dtic.mil/100.2/ADA478691}, author = {J. Mikael Eklund and Jonathan Sprinkle and Todd Templeton and S. Shankar Sastry} } @proceedings {p:DSM06, title = {6th {OOPSLA} Workshop on Domain-Specific Modeling ({DSM}{\textquoteright}06)}, year = {2006}, note = {ISBN: 951-39-2631-1}, month = {October}, publisher = {OOPSLA}, address = {Jyv{\"a}skyl{\"a}, Finland}, editor = {Juka-Pekka Tolvanen and Jeffrey Gray and Jonathan Sprinkle} } @article {p:sprinkleEmbeddedSystems, title = {Model Based Systems Engineering}, year = {2006}, author = {Jonathan Sprinkle} } @proceedings {p:DSM05, title = {5th {OOPSLA} Workshop on Domain-Specific Modeling ({DSM}{\textquoteright}05)}, year = {2005}, note = {ISBN 951-39-2202-2}, month = {October}, publisher = {OOPSLA}, address = {Jyv{\"a}skyl{\"a}, Finland}, editor = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi} } @conference {w:EklundCSB2005, title = {Computing Inverse {MEG} Signals in the Brain}, booktitle = {2005 IEEE Computational Systems Bioinformatics Conference, Controlling Complexity}, year = {2005}, month = {August}, pages = {332{\textendash}335}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1540637}, author = {J. Mikael Eklund and Ruzena Bajcsy and Jonathan Sprinkle and Gregory V. Simpson} } @conference {c:SprinkleACC2005, title = {Deciding to Land a {UAV} Safely in Real Time}, booktitle = {Proceedings of American Control Conference (ACC) 2005}, year = {2005}, month = {June}, pages = {3506{\textendash}3511}, doi = {10.1109/ACC.2005.1470516}, url = {http://dx.doi.org/10.1109/ACC.2005.1470516}, author = {Jonathan Sprinkle and J. Mikael Eklund and S. Shankar Sastry} } @conference {c:McKelvinECBS2005, title = {Fault Tolerant Data Flow Modeling Using the Generic Modeling Environment}, booktitle = {12th Annual IEEE International Conference and Workshop on the Engineering of Computer Based Systems}, year = {2005}, month = {April}, pages = {229{\textendash}235}, doi = {10.1109/ECBS.2005.38}, url = {http://dx.doi.org/10.1109/ECBS.2005.38}, author = {Mark L. McKelvin, Jr and Jonathan Sprinkle and Claudio Pinello and Alberto Sangiovanni-Vincentelli} } @article {j:SprinkleJOT, title = {Generative Components for Hybrid Systems Tools}, journal = {Journal of Object Technology}, volume = {4}, number = {3}, year = {2005}, note = {{Special Issue from GPCE Young Researchers Workshop}}, month = {April}, pages = {35{\textendash}40}, url = {http://www.jot.fm/issues/issue_2005_04/article5}, author = {Jonathan Sprinkle} } @conference {c:EklundACC2005, title = {Implementing and Testing a Nonlinear Model Predictive Tracking Controller for Aerial Pursuit Evasion Games on a Fixed Wing Aircraft}, booktitle = {Proceedings of American Control Conference (ACC) 2005}, year = {2005}, month = {June}, pages = {1509{\textendash}1514}, doi = {10.1109/ACC.2005.1470179}, url = {http://dx.doi.org/10.1109/ACC.2005.1470179}, author = {J. Mikael Eklund and Jonathan Sprinkle and S. Shankar Sastry} } @conference {c:EklundEMBS2005, title = {Information Technology for Assisted Living at Home: Building a Wireless Infrastructure for Assisted Living}, booktitle = {27th Annual International Conference of the IEEE Engineering In Medicine and Biology Society (EMBS)}, series = {Innovation from Biomolecules to Biosystems}, year = {2005}, month = {September}, pages = {3931{\textendash}3934}, doi = {10.1109/IEMBS.2005.1615321}, url = {http://dx.doi.org/10.1109/IEMBS.2005.1615321}, author = {J. Mikael Eklund and Thomas Risgaard Hansen and Jonathan Sprinkle and S. Shankar Sastry} } @article {j:sprinkle-ISSE-2005, title = {Online Safety Calculations for Glideslope Recapture}, journal = {Innovations in Systems and Software Engineering}, volume = {1}, number = {2}, year = {2005}, month = {September}, pages = {157{\textendash}175}, doi = {10.1007/s11334-005-0017-x}, url = {http://dx.doi.org/10.1007/s11334-005-0017-x}, author = {Jonathan Sprinkle and Aaron D. Ames and J. Mikael Eklund and Ian Mitchell and S. Shankar Sastry} } @conference {c:SprinkleCDC2005, title = {On the Partitioning of Syntax and Semantics For Hybrid Systems Tools}, booktitle = {44th IEEE Conference on Decision and Control and European Control Conference ECC 2005 (CDC-ECC{\textquoteright}05)}, year = {2005}, month = {December}, pages = {4694{\textendash}4699}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1582903}, author = {Jonathan Sprinkle and Aaron D. Ames and Alessandro Pinto and Haiyang Zheng and S. Shankar Sastry} } @booklet {m:PublicationsDatabase, title = {User{\textquoteright}s Guide to the PublicationsDatabase}, year = {2005}, note = {Available at \url{http://www.eecs.berkeley.edu/~sprinkle/work/pubdb}}, month = {July}, edition = {v.5.7.11}, url = {http://www.eecs.berkeley.edu/~sprinkle/work/pubdb/}, author = {Jonathan Sprinkle} } @conference {c:hansenEMBEC2005, title = {{Using smart sensors and a camera phone to detect and verify the fall of elderly persons}}, booktitle = {3rd European Medicine, Biology and Engineering Conference}, year = {2005}, author = {Hansen, T.R. and Eklund, J.M. and Jonathan Sprinkle and Bajcsy, R. and Sastry, S.} } @conference {w:SprinkleAerospace2004, title = {Using the Hybrid Systems Interchange Format to Input Design Models to Verification \& Validation Tools}, booktitle = {IEEE Aerospace Conference, Verification and Validation}, year = {2005}, month = {March}, pages = {1{\textendash}6}, url = {http://dx.doi.org/10.1109/AERO.2005.1559595}, author = {Jonathan Sprinkle and Omid Shakernia and Robert Miller and S. Shankar Sastry} } @proceedings {p:DSM04, title = {4th {OOPSLA} Workshop on Domain-Specific Modeling ({DSM}{\textquoteright}04)}, year = {2004}, note = {ISBN: 951-39-1947-1}, month = {October}, publisher = {OOPSLA}, address = {Jyv{\"a}skyl{\"a}, Finland}, url = {http://www.dsmforum.org/events/DSM04/Proceedings-DSM04.zip}, editor = {Juka-Pekka Tolvanen and Jonathan Sprinkle and Matti Rossi} } @article {j:SprinkleJVLC2004, title = {A Domain-Specific Visual Language for Domain Model Evolution}, journal = {Journal of Visual Languages and Computing}, volume = {15}, number = {3-4}, year = {2004}, note = {Special Issue: Domain-Specific Modeling with Visual Languages}, month = {June}, pages = {291-307}, url = {http://dx.doi.org/10.1016/j.jvlc.2004.01.006}, author = {Jonathan Sprinkle and G{\'a}bor Karsai} } @conference {c:SprinkleCDC2004, title = {Encoding Aerial Pursuit/Evasion Games with Fixed Wing Aircraft into a Nonlinear Model Predictive Tracking Controller}, booktitle = {Proceedings of the 43rd IEEE Conference on Decision and Control}, volume = {3}, year = {2004}, month = {December}, pages = {2609{\textendash}2614}, doi = {10.1109/CDC.2004.1428851}, url = {http://dx.doi.org/10.1109/CDC.2004.1428851}, author = {Jonathan Sprinkle and J. Mikael Eklund and H. Jin Kim and S. Shankar Sastry} } @article {p:sprinkleForgettingUML, title = {Forgetting UML (A Useful Guide to Formal Modeling)}, year = {2004}, note = {Berkeley Weekly Chess Seminar}, month = {September}, author = {Jonathan Sprinkle} } @conference {w:GPCE_YRW04, title = {Generative Components for Hybrid Systems Tools}, booktitle = {Generative Programming and Component Engineering (GPCE) 2004, Young Researchers Workshop}, year = {2004}, month = {October}, publisher = {Reprinted in J. of Obj. Tech.}, organization = {Reprinted in J. of Obj. Tech.}, url = {http://www.jot.fm/issues/issue_2005_04/article5}, author = {Jonathan Sprinkle} } @conference {c:SprinkleECBS2004, title = {Improving CBS Tool Development with Technological Spaces}, booktitle = {Eleventh IEEE International Conference and Workshop on the Engineering of Computer-Based Systems}, year = {2004}, month = {May}, pages = {218{\textendash}224}, doi = {10.1109/ECBS.2004.1316702}, url = {http://dx.doi.org/10.1109/ECBS.2004.1316702}, author = {Jonathan Sprinkle} } @article {j:SprinklePotentials2004, title = {Model-Integrated Computing}, journal = {IEEE Potentials}, volume = {23}, number = {1}, year = {2004}, month = {February}, pages = {28{\textendash}30}, doi = {10.1109/MP.2004.1266937}, url = {http://dx.doi.org/10.1109/MP.2004.1266937}, author = {Jonathan Sprinkle} } @conference {c:OOPSLA_EdSym04, title = {A Paradigm for Teaching Modeling Environment Design}, booktitle = {OOPSLA{\textquoteright}04 Educators Symposium (Poster Session)}, year = {2004}, month = {October}, publisher = {ACM}, organization = {ACM}, url = {http://www.eecs.berkeley.edu/~sprinkle/work/publications/rep/TeachingModelingWithGME.pdf}, author = {Jonathan Sprinkle and James Davis and Greg Nordstrom} } @article {p:sprinkleNASAGSFC, title = {Pursuit/Evasion of Fixed-wing Aircraft through Model-Predictive Control}, year = {2004}, note = {The NASA/Goddard Space Flight Centers Information Science and Technology (IS\&T) Colloquium Series}, month = {October}, author = {Jonathan Sprinkle and J. Mikael Eklund and H. Jin Kim and S. Shankar Sastry} } @conference {c:SprinkleISDA2004, title = {Toward Design Parameterization Support for Model Predictive Control}, booktitle = {IEEE 4th International Conference on Intelligent Systems Design and Application}, year = {2004}, note = {ISBN: 963-7154-30-2}, month = {August}, publisher = {IEEE}, organization = {IEEE}, url = {http://www.eecs.berkeley.edu/~sprinkle/work/publications/rep/sprinkleISDA2004-final.pdf}, author = {Jonathan Sprinkle and J. Mikael Eklund and S. Shankar Sastry} } @conference {w:MeyerowitzDSM04, title = {A Visual Language for Describing Instruction Sets and Generating Decoders}, booktitle = {OOPSLA, 4th Workshop on Domain Specific Modeling}, year = {2004}, month = {October}, pages = {23{\textendash}32}, url = {http://www.dsmforum.org/events/DSM04/Meyerowitz.pdf}, author = {Trevor Meyerowitz and Jonathan Sprinkle and Alberto Sangiovanni-Vincentelli} } @article {j:NordstromLNCS2003, title = {ANEMIC: Automatic Interface Enabler for Model Integrated Computing}, journal = {Lecture Notes in Computer Science}, volume = {2830}, year = {2003}, note = {ISBN: 3-540-20102-5}, month = {November}, pages = {138{\textendash}150}, doi = {10.1007/978-3-540-39815-8_9}, url = {http://dx.doi.org/10.1007/978-3-540-39815-8_9}, author = {Steve Nordstrom and Shweta Shetty and Kumar Guarav Chhokra and Jonathan Sprinkle and Brandon Eames and {\'A}kos L{\'e}deczi} } @conference {c:NordstromGPCE, title = {ANEMIC: Automatic Interface Enabler for Model Integrated Computing}, booktitle = {Generative Programming and Component Engineering (GPCE {\textquoteright}03)}, year = {2003}, month = {September}, url = {http://www.isis.vanderbilt.edu/publications/archive/Nordstrom_SG_9_22_2003_ANEMIC__Au.pdf}, author = {Steve Nordstrom and Shweta Shetty and Kumar Guarav Chhokra and Jonathan Sprinkle and Brandon Eames and {\'A}kos L{\'e}deczi} } @conference {c:SprinkleECBS2003, title = {Domain Translation Using Graph Transformations}, booktitle = {Tenth IEEE International Conference and Workshop on the Engineering of Computer-Based Systems}, year = {2003}, month = {April}, pages = {159{\textendash}168}, doi = {10.1109/ECBS.2003.1194795}, url = {http://dx.doi.org/10.1109/ECBS.2003.1194795}, author = {Jonathan Sprinkle and Aditya Agrawal and T{\'\i}hamer Levendovszky and Feng Shi and G{\'a}bor Karsai} } @conference {w:SprinkleUML2003, title = {Managing Intent: The Driving Forces of Model Transformations}, booktitle = {{UML} 2003, Workshop in Software Model Engineering}, year = {2003}, month = {October}, url = {http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_J_10_21_2003_Managing_I.pdf}, author = {Jonathan Sprinkle} } @article {a:MyAreaPaper, title = {Metamodel Based Model Migration}, year = {2003}, month = {February}, publisher = {Vanderbilt University}, address = {2015 Terrace Place}, url = {http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_JM_2_5_2003_Metamodel_.pdf}, author = {Jonathan Sprinkle} } @mastersthesis {a:MyDissertation, title = {Metamodel Driven Model Migration}, year = {2003}, month = {August}, school = {Vanderbilt University}, type = {mastersphd}, address = {Nashville, TN 37203}, url = {http://www.isis.vanderbilt.edu/sites/default/files/Sprinkle_JM_8_0_2003_Metamodel_.pdf}, author = {Jonathan Sprinkle} } @conference {w:SprinkleOOPSLA2003, title = {Model Migration through Visual Modeling}, booktitle = {OOPSLA, 3rd ACM Workshop on Domain-Specific Modeling}, year = {2003}, month = {October}, url = {http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_J_10_26_2003_Model_Migr.pdf}, author = {Jonathan Sprinkle and G{\'a}bor Karsai} } @article {j:KarsaiJUCS, title = {On the Use of Graph Transformation in the Formal Specification of Model Interpreters}, journal = {Journal of Universal Computer Science}, volume = {9}, number = {11}, year = {2003}, month = {November}, pages = {1296{\textendash}1321}, url = {http://www.jucs.org/jucs_9_11/on_the_use_of/Karsai_G.pdf}, author = {G{\'a}bor Karsai and Aditya Agrawal and Feng Shi and Jonathan Sprinkle} } @article {tr:ANTSTechReport, title = {Computer-aided aircraft maintenance scheduling}, number = {ISIS-02-303}, year = {2002}, month = {November}, publisher = {Vanderbilt University}, type = {Tech. Rep.}, address = {2015 Terrace Place}, author = {Christopher P. van Buskirk and Benoit Dawant and G{\'a}bor Karsai and Jonathan Sprinkle and Gabor Szokoli and Karlkim Suwanmongkol and Russ Currer} } @conference {w:SprinkleOOPSLA2002, title = {Domain Evolution in Visual Languages Using Graph Transformations}, booktitle = {OOPSLA, 2nd ACM OOPSLA Workshop on Domain-Specific Languages}, year = {2002}, month = {November}, url = {http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_JM_11_4_2002_Domain_Evo.doc}, author = {Jonathan Sprinkle and Aditya Agrawal and T{\'\i}hamer Levendovszky and Feng Shi and G{\'a}bor Karsai} } @conference {w:Agrawal2002, title = {Generative Programming via Graph Transformations in the Model-Driven Architecture}, booktitle = {OOPSLA, Workshop on Generative Techniques in the Context of Model Driven Architecture}, year = {2002}, month = {November}, url = {http://www.isis.vanderbilt.edu/publications/archive/Agrawal_A_11_5_2002_Generative.pdf}, author = {Aditya Agrawal and T{\'\i}hamer Levendovszky and Jonathan Sprinkle and Feng Shi and G{\'a}bor Karsai} } @article {j:LedecziComputer2001, title = {Composing Domain-Specific Design Environments}, journal = {IEEE Computer}, volume = {34}, number = {11}, year = {2001}, month = {November}, pages = {44{\textendash}51}, doi = {10.1109/2.963443}, url = {http://dx.doi.org/10.1109/2.963443}, author = {{\'A}kos L{\'e}deczi and {\'A}rpad Bakay and Miklos Maroti and P{\'e}ter Volgyesi and Greg Nordstrom and Jonathan Sprinkle and G{\'a}bor Karsai} } @article {m:GME2000UsersManual, title = {GME 2000 Users Manual (v2.0)}, year = {2001}, month = {December}, publisher = {Vanderbilt University, ISIS}, author = {{\'A}kos L{\'e}deczi and Miklos Maroti and {\'A}rpad Bakay and Greg Nordstrom and Jason T. Garrett and Chuck Thomason and Jonathan Sprinkle and P{\'e}ter Volgyesi} } @conference {c:SprinkleECBS2001, title = {The New Metamodeling Generation}, booktitle = {Eighth Annual IEEE International Conference and Workshop on the Engineering of Computer Based Systems}, year = {2001}, month = {April}, pages = {275{\textendash}279}, doi = {10.1109/ECBS.2001.922433}, url = {http://dx.doi.org/10.1109/ECBS.2001.922433}, author = {Jonathan Sprinkle and G{\'a}bor Karsai and {\'A}kos L{\'e}deczi and Greg Nordstrom} } @mastersthesis {a:MyMsThesis, title = {Model Integrated Program Synthesis of Agent Negotiation Protocols}, year = {2000}, month = {August}, school = {Vanderbilt University}, type = {mastersmasters}, address = {Nashville, TN 37203}, author = {Jonathan Sprinkle} } @conference {c:SprinkleSMC2000, title = {Modeling Agent Negotiation}, booktitle = {Proceedings of the 2000 IEEE International Conference on Systems, Man, and Cybernetics}, volume = {1}, year = {2000}, month = {October}, pages = {454{\textendash}459}, doi = {10.1109/ICSMC.2000.885034}, url = {http://dx.doi.org/10.1109/ICSMC.2000.885034}, author = {Jonathan Sprinkle and Christopher P. van Buskirk and G{\'a}bor Karsai} } @conference {c:DevaSMC2000, title = {Towards a Standard for Model Specification and Storage}, booktitle = {Proceedings of the IEEE Systems, Man, and Cybernetics Conference}, year = {2000}, month = {October}, doi = {10.1109/ICSMC.2000.885018}, url = {http://dx.doi.org/10.1109/ICSMC.2000.885018}, author = {Dinesh Deva and Jonathan Sprinkle and Greg Nordstrom and Miklos Maroti} } @article {j:zhang2012esl, title = {Automobile Localization with Commodity Sensors}, journal = {(under review)}, month = {Submitted}, author = {Kun Zhang and Jonathan Sprinkle} } @conference { c:sprinkle-mehs-dsme, title = {A Domain-Specific Modeling Environment Applied to the Design of an Embedded Human System}, booktitle = {TBD}, month = {Submitted}, pages = {(in preparation)}, keywords = {dsml}, author = {Jonathan Sprinkle} } @article {j:sprinkle-tse-2009, title = {Fundamental Limitations in Domain-Specific Language Evolution}, journal = {(in preparation)}, volume = {(tbd)}, month = {Submitted}, pages = {(in preparation)}, abstract = {

In this paper we address language engineering issues surrounding domain-specific modeling languages (DSMLs). By definition, such languages track the domain, meaning that changes to the domain require changes to the DSML in order to provide an intuitive specification of domain-specific programs or models. For this work, our primary focus is on fundamental limitations that affect the preservation of semantics during domain model evolution. We specifically address fundamental limitations in semantics-preserving transformations, and/or the implementation of algorithms that specify such transformations. This work has profound implications for language engineers who are planning for the maintenance of models, or designing model transformations for the purpose of preserving semantics. We provide a brief representative example from the discipline of hybrid systems, where such results can be interpreted.

}, author = {Jonathan Sprinkle and Jeffrey Gray and Marjan Mernik} }