TY - CONF T1 - Safer Adaptive Cruise Control for Traffic Wave Dampening T2 - ACM/IEEE 12th International Conference on Cyber-Physical Systems (with CPS-IoT Week 2021) Y1 - 2021 A1 - Emily Baschab A1 - Savannah Ball A1 - Audrey Vazzana A1 - Jonathan Sprinkle AB -

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’s velocity dips below threshold, requiring the driver of the host vehicle to resume control over the car’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. 

JF - ACM/IEEE 12th International Conference on Cyber-Physical Systems (with CPS-IoT Week 2021) PB - ACM UR - http://dx.doi.org/10.1145/3450267.3452003 ER - TY - JOUR T1 - Are commercially implemented adaptive cruise control systems string stable? JF - IEEE Transactions on Intelligent Transportation Systems Y1 - 2020 A1 - George Gunter A1 - Derek Gloudemans A1 - Raphael E Stern A1 - Sean McQuade A1 - Rahul Bhadani A1 - Matt Bunting A1 - Maria Laura Dell Monache A1 - Benjamin Seibold A1 - Jonathan Sprinkle A1 - Benedetto Piccoli A1 - Daniel B. Work KW - Adaptive Cruise Control KW - String Stability AB -

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.

UR - http://dx.doi.org/10.1109/TITS.2020.3000682 ER - TY - RPRT T1 - Modeling Human Car-Following Behavior from Demonstration with Recurrent Neural Networks Y1 - 2020 A1 - Iris Jones A1 - Megan Walter ED - Rahul Bhadani KW - car-following models KW - driving behavior KW - recurrent neural network KW - simulation KW - trajectory prediction AB -

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’s driving data, and to test the ability of the model to predict trajectories that replicate the driver’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’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.

ER - TY - CONF T1 - Programming the Kennedy Receiver for Capacity Maximization versus Minimizing One-shot Error Probability T2 - Frontiers in Optics 2020 Y1 - 2020 A1 - Rahul Bhadani A1 - Ivan B. Djordjevic A1 - Jonathan Sprinkle A1 - Saikat Guha ED - Michael Grace KW - Photonics KW - Photonics Information Theory KW - Quantum Optics AB -

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.

JF - Frontiers in Optics 2020 PB - The Optical Society of America CY - Online SN - 978-1-943580-80-4 UR - https://www.osapublishing.org/abstract.cfm?uri=FiO-2020-JM6B.29 ER - TY - RPRT T1 - Safer Adaptive Cruise Control for Traffic Wave Dampening Y1 - 2020 A1 - Emily Baschab A1 - Savannah Ball A1 - Audrey Vazzana ED - Jonathan Sprinkle KW - Adaptive Cruise Control KW - stop-and-go KW - Vehicle Autonomy AB -

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’s velocity dips below threshold, requiring the driver of the host vehicle to resume control over the car’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’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.

ER - TY - CONF T1 - Safety and Stability Analysis of the FollowerStopper Traffic Wave Dampening Controller (Late-Breaking Poster) T2 - American Control Conference Y1 - 2020 A1 - Chris Kreienkamp A1 - Daniel Fishbein A1 - Rahul Bhadani A1 - Jonathan Sprinkle JF - American Control Conference ER - TY - JOUR T1 - Automated Model-based Optimization of Data-Adaptable Embedded Systems JF - ACM Transactions on Embedded Computing Systems Y1 - 2019 A1 - Adrian Lizarraga A1 - Jonathan Sprinkle A1 - Roman Lysecky AB -

This paper presents a modeling and optimization framework that enables developers to model an application'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.

VL - 19 UR - https://doi.org/10.1145/3372142 IS - 1 ER - TY - CHAP T1 - Feedback Control Algorithms for the Dissipation of Traffic Waves with Autonomous Vehicles T2 - Computational Intelligence and Optimization Methods for Control Engineering Y1 - 2019 A1 - Maria Laura Dell Monache A1 - Liard, Thibault A1 - Rat, Anaïs A1 - Raphael E Stern A1 - Rahul Bhadani A1 - Benjamin Seibold A1 - Jonathan Sprinkle A1 - Daniel B. Work A1 - Benedetto Piccoli ED - Blondin, Maude Josée ED - Pardalos, Panos M. ED - Sanchis Sáez, Javier AB -

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{%}.

JF - Computational Intelligence and Optimization Methods for Control Engineering PB - Springer International Publishing CY - Cham SN - 978-3-030-25446-9 UR - https://doi.org/10.1007/978-3-030-25446-9_12 ER - TY - CHAP T1 - Model-based engineering with application to autonomy T2 - Complexity Challenges in Cyber Physical Systems: Using Modeling and Simulation (M&S) to Support Intelligence, Adaptation and Autonomy Y1 - 2019 A1 - Rahul Bhadani A1 - Matt Bunting A1 - Jonathan Sprinkle AB -

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—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.

JF - Complexity Challenges in Cyber Physical Systems: Using Modeling and Simulation (M&S) to Support Intelligence, Adaptation and Autonomy PB - Wiley SN - 978-1-119-55239-0 ER - TY - JOUR T1 - Quantifying air quality benefits resulting from few autonomous vehicles stabilizing traffic JF - Transportation Research Part D: Transport and Environment Y1 - 2019 A1 - Yuche Chen A1 - Miles Churchill A1 - Fangyu Wu A1 - Maria Laura Dell Monache A1 - Benedetto Piccoli A1 - Benjamin Seibold A1 - Jonathan Sprinkle A1 - Daniel B. Work AB -

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 20–21 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.

VL - 67 UR - https://doi.org/10.1016/j.trd.2018.12.008 ER - TY - Generic T1 - Real-Time Distance Estimation and Filtering of Vehicle Headways for Smoothing of Traffic Waves T2 - International Conference on Cyber-Physical Systems 2019 Y1 - 2019 A1 - Rahul Bhadani A1 - Matthew Bunting A1 - Benjamin Seibold A1 - Raphael E Stern A1 - Shumo Cui A1 - Jonathan Sprinkle A1 - Benedetto Piccoli A1 - Daniel B. Work KW - autonomous vehicles KW - Digital Filter KW - simulation KW - Traffic AB -

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.

 

JF - International Conference on Cyber-Physical Systems 2019 CY - Montreal, Canada UR - https://dl.acm.org/citation.cfm?doid=3302509.3314026 ER - TY - CONF T1 - Safety and stability analysis of FollowerStopper T2 - CAT Vehicle Research Experience for Undergraduates Y1 - 2019 A1 - Chris Kreienkamp A1 - Daniel Fishbein A1 - Rahul Bhadani A1 - Jonathan Sprinkle KW - autonomous vehicles KW - control systems KW - intelligent transportation AB -

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

JF - CAT Vehicle Research Experience for Undergraduates PB - The University of Arizona CY - Tucson UR - http://csl.arizona.edu/content/safety-and-stability-analysis-followerstopper ER - TY - JOUR T1 - Tracking vehicle trajectories and fuel rates in phantom traffic jams: Methodology and data JF - Transportation Research Part C: Emerging Technologies Y1 - 2019 A1 - Fangyu Wu A1 - Raphael E Stern A1 - Shumo Cui A1 - Maria Laura Dell Monache A1 - Rahul Bhadani A1 - Matthew Bunting A1 - Miles Churchill A1 - Nathaniel Hamilton A1 - Benedetto Piccoli A1 - Benjamin Seibold A1 - Jonathan Sprinkle A1 - Daniel B. Work PB - Elsevier VL - 99 UR - https://doi.org/10.1016/j.trc.2018.12.012 ER - TY - CONF T1 - WiP Abstract: String stability of commercial adaptive cruise control vehicles T2 - International Conference on Cyber-Physical Systems Y1 - 2019 A1 - George Gunter A1 - Y. Yang A1 - Raphael E Stern A1 - Daniel B. Work A1 - Maria Laura Dell Monache A1 - Rahul Bhadani A1 - Matt Bunting A1 - Roman Lysecky A1 - Jonathan Sprinkle A1 - Benjamin Seibold A1 - Benedetto Piccoli KW - Adaptive Cruise Control KW - String Stability AB - 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. JF - International Conference on Cyber-Physical Systems UR - https://dl.acm.org/citation.cfm?id=3313325 ER - TY - ABST T1 - The Arizona Ring Experiments Dataset (ARED) Y1 - 2018 A1 - Fangyu Wu A1 - Raphael E Stern A1 - Shumo Cui A1 - Maria Laura Dell Monache A1 - Rahul Bhadani A1 - Matthew Bunting A1 - Miles Churchill A1 - Nathaniel Hamilton A1 - Fangyu Wu A1 - Benedetto Piccoli A1 - Benjamin Seibold A1 - Jonathan Sprinkle A1 - Daniel B. Work UR - http://hdl.handle.net/1803/9358 ER - TY - CONF T1 - The CAT Vehicle Testbed: A Simulator with Hardware in the Loop for Autonomous Vehicle Applications T2 - Proceedings 2nd International Workshop on Safe Control of Autonomous Vehicles (SCAV 2018), Porto, Portugal, Electronic Proceedings in Theoretical Computer Science Y1 - 2018 A1 - Rahul Bhadani A1 - Jonathan Sprinkle A1 - Matthew Bunting KW - autonomous vehicles KW - simulation KW - testbed JF - Proceedings 2nd International Workshop on Safe Control of Autonomous Vehicles (SCAV 2018), Porto, Portugal, Electronic Proceedings in Theoretical Computer Science VL - 269 ER - TY - Generic T1 - Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller T2 - 57th IEEE Conference on Decision and Control Y1 - 2018 A1 - Rahul Bhadani A1 - Benedetto Piccoli A1 - Benjamin Seibold A1 - Jonathan Sprinkle A1 - Daniel B. Work KW - autonomous vehicles KW - CPS KW - Traffic AB -

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's velocity will be oscillatory, the controller'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. 

JF - 57th IEEE Conference on Decision and Control PB - IEEE CY - Fontainbleau, Miami Beach, USA VL - 57 UR - https://ieeexplore.ieee.org/document/8619700 ER - TY - JOUR T1 - Dissipation of stop-and-go waves via control of autonomous vehicles: Field experiments JF - Transportation Research Part C Y1 - 2018 A1 - Raphael E Stern A1 - Shumo Cui A1 - Maria Laura Dell Monache A1 - Rahul Bhadani A1 - Matthew Bunting A1 - Miles Churchill A1 - Nathaniel Hamilton A1 - Hannah Pohlmann A1 - Fangyu Wu A1 - Benedetto Piccoli A1 - Benjamin Seibold A1 - Jonathan Sprinkle A1 - Daniel B. Work KW - autonomous vehicles KW - cyber physical systems VL - 89 ER - TY - CONF T1 - A LiDAR Error Model for Cooperative Driving Simulations T2 - IEEE Vehicular Network Conference Y1 - 2018 A1 - Michele Segata A1 - Renato Lo Cigno A1 - Rahul Bhadani A1 - Matthew Bunting A1 - Jonathan Sprinkle KW - autonomous vehicles KW - AV KW - CAV KW - LiDAR KW - self-driving cars KW - sensor KW - VNC AB -

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.

JF - IEEE Vehicular Network Conference PB - IEEE CY - Taipei, Taiwan ER - TY - CONF T1 - Controlling for Unsafe Events in Dense Traffic Through Autonomous Vehicles: Invited Talk Abstract T2 - Proceedings of the 1st International Workshop on Safe Control of Connected and Autonomous Vehicles Y1 - 2017 A1 - Daniel B. Work A1 - Raphael E Stern A1 - Fangyu Wu A1 - Miles Churchill A1 - Shumo Cui A1 - Hannah Pohlmann A1 - Benjamin Seibold A1 - Benedetto Piccoli A1 - Rahul Bhadani A1 - Matthew Bunting A1 - Jonathan Sprinkle A1 - Maria Laura Dell Monache A1 - Nathaniel Hamilton A1 - Haulcy, R. KW - Sugiyama experiment KW - Traffic flow JF - Proceedings of the 1st International Workshop on Safe Control of Connected and Autonomous Vehicles PB - ACM CY - New York, NY, USA SN - 978-1-4503-4976-5 UR - http://doi.acm.org/10.1145/3055378.3055380 ER - TY - CONF T1 - A Fuzzy based approach to Dampen Emergent Traffic Waves T2 - CAT Vehicle Research Experience for Undergraduates Y1 - 2017 A1 - R'mani Haulcy A1 - Nathaniel Hamilton A1 - Rahul Bhadani A1 - Jonathan Sprinkle A1 - Daniel B. Work A1 - Nathalie Risso A1 - Benedetto Piccoli A1 - Maria Laura Dell Monache A1 - Benjamin Seibold KW - Autonomous Systems KW - Control System AB -

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's Cognitive Autonomous Test (CAT) Vehicle illustrate the feasibility and success of this new controller.

JF - CAT Vehicle Research Experience for Undergraduates PB - CAT Vehicle Research Experience for Undergraduates CY - The University of Arizona ER - TY - CONF T1 - Fuzzy Control of an Autonomous Car using a Smart Phone T2 - Proceedings of the 2017 IEEE International Conference on Automatica (ICA-ACCA) Y1 - 2017 A1 - Elizabeth A. Olson A1 - Nathalie Risso A1 - Adam M. Johnson A1 - Jonathan Sprinkle JF - Proceedings of the 2017 IEEE International Conference on Automatica (ICA-ACCA) PB - IEEE ER - TY - JOUR T1 - Task Transition Scheduling for Data-Adaptable Systems JF - ACM Transactions on Embedded Computing Systems (TECS) Y1 - 2017 A1 - Nathan Sandoval A1 - Casey Mackin A1 - Sean Whitsitt A1 - Gopinath, Vijay Shankar A1 - Sachidanand Mahadevan A1 - Milakovich, Andrew A1 - Merry, Kyle A1 - Jonathan Sprinkle A1 - Roman Lysecky KW - Data adaptability KW - hardware/software codesign KW - model-based design KW - runtime transition scheduling AB -

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.

VL - 16 UR - http://doi.acm.org/10.1145/3047498 ER - TY - JOUR T1 - Computationally-Aware Switching Criteria for Hybrid Model Predictive Control Of Cyber-Physical Systems JF - IEEE Transactions on Automation Science and Engineering Y1 - 2016 A1 - Kun Zhang A1 - Jonathan Sprinkle A1 - Ricardo G. Sanfelice VL - 13 UR - http://dx.doi.org/10.1109/TASE.2016.2523341 ER - TY - CONF T1 - Dampening traffic waves with autonomous vehicles T2 - ITRL Conference on Integrated Transport: Connected and Automated Transport Systems Y1 - 2016 A1 - Raphael E Stern A1 - Fangyu Wu A1 - Miles Churchill A1 - Daniel B. Work A1 - Maria Laura Dell Monache A1 - Benedetto Piccoli A1 - Hannah Pohlmann A1 - Shumo Cui A1 - Benjamin Seibold A1 - Nathaniel Hamilton A1 - R’mani Haulcy A1 - Rahul Bhadani A1 - Matthew Bunting A1 - Jonathan Sprinkle AB - 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’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’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. JF - ITRL Conference on Integrated Transport: Connected and Automated Transport Systems ER - TY - Generic T1 - Model-based Fuzzy Logic Classifier Synthesis for Optimization of Data-Adaptable Embedded Systems T2 - International Conference on InfoSymbiotics/DDDAS, 2016 Y1 - 2016 A1 - Adrian Lizarraga A1 - Roman Lysecky A1 - Jonathan Sprinkle JF - International Conference on InfoSymbiotics/DDDAS, 2016 CY - Hartford, CT ER - TY - CONF T1 - Model-driven Optimization of Data-Adaptable Embedded Systems T2 - COMPSAC Y1 - 2016 A1 - Adrian Lizarraga A1 - Roman Lysecky A1 - Jonathan Sprinkle AB -

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’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.

JF - COMPSAC PB - IEEE UR - http://dx.doi.org/10.1109/COMPSAC.2016.156 ER - TY - CONF T1 - Model-Driven Optimization of Data-Adaptable Embedded Systems T2 - 2016 IEEE 40th Annual Computer Software and Applications Conference (COMPSAC) Y1 - 2016 A1 - Adrian Lizarraga A1 - Roman Lysecky A1 - Jonathan Sprinkle JF - 2016 IEEE 40th Annual Computer Software and Applications Conference (COMPSAC) PB - IEEE ER - TY - Generic T1 - Power Efficient Vehicular Ad Hoc Networks T2 - WInnComm Y1 - 2016 A1 - Sterling Holcomb A1 - Audrey Knowlton A1 - Juan Guerra A1 - Hamed Asadi A1 - Haris Volos A1 - Jonathan Sprinkle A1 - Tamal Bose AB - 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’ 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. JF - WInnComm CY - Reston, VA ER - TY - CONF T1 - Robust Control of Autonomous Vehicle Trajectories T2 - AIMS Y1 - 2016 A1 - Jonathan Sprinkle A1 - Rahul Bhadani A1 - Shumo Cui A1 - Benjamin Seibold AB -

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.

JF - AIMS ER - TY - CONF T1 - A Safe Autonomous Vehicle Trajectory Domain Specific Modeling Language For Non-Expert Development T2 - Proceedings of the International Workshop on Domain-Specific Modeling (DSM 2016) Y1 - 2016 A1 - Matthew Bunting A1 - Yegeta Zeleke A1 - Kennon McKeever A1 - Jonathan Sprinkle JF - Proceedings of the International Workshop on Domain-Specific Modeling (DSM 2016) PB - ACM CY - Amsterdam, Netherlands UR - http://doi.acm.org/10.1145/3023147.3023154 ER - TY - CONF T1 - WiP Abstract: Stabilizing traffic with a single autonomous vehicle T2 - 2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS) Y1 - 2016 A1 - Raphael E Stern A1 - Daniel B. Work A1 - Shumo Cui A1 - Hannah Pohlmann A1 - Benjamin Seibold A1 - Maria Laura Dell Monache A1 - Benedetto Piccoli A1 - Jonathan Sprinkle JF - 2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS) UR - http://dx.doi.org/10.1109/ICCPS.2016.7479130 ER - TY - CONF T1 - Adaptive Multifactor Routing with Constrained Data Sets T2 - Wireless Innovation Forum Conference on Wireless Communication Technologies and Software Defined Radio (WInnComm) Y1 - 2015 A1 - Torger Miller A1 - Cody Ross A1 - Matheus Marques Barbosa A1 - Mohammed Hirzallah A1 - Haris Volos A1 - Jonathan Sprinkle AB -

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’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’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

JF - Wireless Innovation Forum Conference on Wireless Communication Technologies and Software Defined Radio (WInnComm) CY - San Diego, CA ER - TY - JOUR T1 - Computationally-Aware Control of Autonomous Vehicles: A Hybrid Model Predictive Control Approach JF - Autonomous Robots Y1 - 2015 A1 - Kun Zhang A1 - Jonathan Sprinkle A1 - Ricardo G. Sanfelice UR - http://dx.doi.org/10.1007/s10514-015-9469-5 ER - TY - Generic T1 - DSM 2015: Proceedings of the Workshop on Domain-Specific Modeling Y1 - 2015 A1 - Jeffrey Gray A1 - Jonathan Sprinkle A1 - Juka-Pekka Tolvanen A1 - Matti Rossi PB - ACM CY - New York, NY, USA SN - 978-1-4503-3903-2 ER - TY - CONF T1 - Experience Report: Constraint-based Modeling of Autonomous Vehicle Trajectories T2 - Proceedings of the Workshop on Domain-Specific Modeling Y1 - 2015 A1 - Kennon McKeever A1 - Yegeta Zeleke A1 - Matthew Bunting A1 - Jonathan Sprinkle KW - Autonomous Systems KW - cyber-physical systems KW - metamodeling JF - Proceedings of the Workshop on Domain-Specific Modeling PB - ACM CY - New York, NY, USA SN - 978-1-4503-3903-2 UR - http://doi.acm.org/10.1145/2846696.2846706 ER - TY - CONF T1 - A Hybrid Model Predictive Controller for Path Planning and Path Following T2 - International Conference on Cyber-Physical Systems (ICCPS) Y1 - 2015 A1 - Kun Zhang A1 - Jonathan Sprinkle A1 - Ricardo G. Sanfelice AB -

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. 

JF - International Conference on Cyber-Physical Systems (ICCPS) PB - ACM CY - Seattle, WA UR - http//dx.doi.org/10.1145/2735960.2735966 ER - TY - CONF T1 - Intersection Management via the Opportunistic Organization of Platoons by Route T2 - WinnComm 2016 Y1 - 2015 A1 - Alberto Heras A1 - Lykes Claytor A1 - Haris Volos A1 - Hamed Asadi A1 - Jonathan Sprinkle A1 - Tamal Bose AB - 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’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. JF - WinnComm 2016 ER - TY - CONF T1 - Workshop Preview of the 15th Workshop on Domain Specific Modeling (DSM 2015) T2 - Companion Proceedings of the 2015 ACM SIGPLAN International Conference on Systems, Programming, Languages and Applications: Software for Humanity Y1 - 2015 A1 - Jeffrey Gray A1 - Jonathan Sprinkle A1 - Juka-Pekka Tolvanen A1 - Matti Rossi KW - Code Generation KW - domain-specific languages KW - metamodeling KW - modeling languages JF - Companion Proceedings of the 2015 ACM SIGPLAN International Conference on Systems, Programming, Languages and Applications: Software for Humanity PB - ACM CY - New York, NY, USA SN - 978-1-4503-3722-9 UR - http://doi.acm.org/10.1145/2814189.2833204 ER - TY - CONF T1 - A Closed-loop Model-based Design Approach Based On Automatic Verification and Transformation T2 - The 14th Workshop on Domain-Specific Modeling Y1 - 2014 A1 - Kun Zhang A1 - Jonathan Sprinkle AB -

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.

JF - The 14th Workshop on Domain-Specific Modeling UR - http://dx.doi.org/10.1145/2688447.2688448 ER - TY - JOUR T1 - A Data-Driven Linear Approximation of HVAC Utilization for Predictive Control and Optimization JF - IEEE Transactions on Control Systems Technology Y1 - 2014 A1 - Xiao Qin A1 - Susan Lysecky A1 - Jonathan Sprinkle VL - 99 UR - http://dx.doi.org/10.1109/TCST.2014.2332873 ER - TY - CONF T1 - Generating Model Transformations for Mending Dynamic Constraint Violations in Cyber Physical Systems T2 - The 14th Workshop on Domain-Specific Modeling Y1 - 2014 A1 - Sean Whitsitt A1 - Jonathan Sprinkle A1 - Roman Lysecky AB -

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).

JF - The 14th Workshop on Domain-Specific Modeling UR - http://dx.doi.org/10.1145/2688447.2688454 ER - TY - CONF T1 - A Heterogeneity Based Method to Identify Major Variability Components T2 - International Conference on Electronics, Communications, and Networks Y1 - 2014 A1 - Fahd Shaikh A1 - Wei He A1 - Jonathan Sprinkle A1 - K. Chen A1 - Janet Roveda JF - International Conference on Electronics, Communications, and Networks CY - Beijing ER - TY - CONF T1 - A Hybrid Controller for Autonomous Vehicle Lane Changing with Epsilon Dragging T2 - American Control Conference Y1 - 2014 A1 - Sean Whitsitt A1 - Jonathan Sprinkle AB -

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’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.

JF - American Control Conference PB - IEEE CY - Portland, Oregon UR - http://dx.doi.org/10.1109/ACC.2014.6859450 ER - TY - JOUR T1 - A Modular Framework to Enable Rapid Evaluation and Exploration of Energy Management Methods in Smart Home Platforms JF - Energy Systems Y1 - 2014 A1 - Xiao Qin A1 - Lin Lin A1 - Susan Lysecky A1 - Janet Roveda A1 - Young-Jun Son A1 - Jonathan Sprinkle AB -

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. 

UR - http://dx.doi.org/10.1007/s12667-014-0121-9 ER - TY - JOUR T1 - Motorized mobility scooters: The Use of Training/Intervention and Technology for Improving Driving Skills in Aging Adults - A Mini-Review JF - Gerontology Y1 - 2014 A1 - Nima Toosizadeh A1 - Matthew Bunting A1 - Carol Howe A1 - Jane Mohler A1 - Jonathan Sprinkle A1 - Bijan Najafi VL - 60 UR - http://www.karger.com/Article/FullText/356766 ER - TY - CONF T1 - Efficient Reconfiguration Methods to Enable Rapid Deployment of Runtime Reconfigurable Systems T2 - Asilomar Conference on Signals, Systems and Computers Y1 - 2013 A1 - Roman Lysecky A1 - Nathan Sandoval A1 - Sean Whitsitt A1 - Casey Mackin A1 - Jonathan Sprinkle JF - Asilomar Conference on Signals, Systems and Computers PB - IEEE CY - Pacific Grove, CA UR - http://dx.doi.org/10.1109/ACSSC.2013.6810401 ER - TY - CONF T1 - Generating a ROS/JAUS Bridge for an Autonomous Ground Vehicle T2 - Proceedings of the 2013 ACM workshop on Domain-specific modeling (DSM ’13) Y1 - 2013 A1 - Patrick Morley A1 - Alex Warren A1 - Ethan Rabb A1 - Matthew Bunting A1 - Sean Whitsitt A1 - Jonathan Sprinkle KW - autonomous vehicles KW - Code Generation AB -

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’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.

JF - Proceedings of the 2013 ACM workshop on Domain-specific modeling (DSM ’13) PB - ACM CY - Indianapolis, IN UR - http://dx.doi.org/10.1145/2541928.2541931 ER - TY - CONF T1 - How You Can Learn to Stop Worrying and Love Reconfigurable Embedded Systems: A Tutorial T2 - Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the Y1 - 2013 A1 - Nathan Sandoval A1 - Casey Mackin A1 - Roman Lysecky A1 - Jonathan Sprinkle KW - C++ language KW - C/C++ code KW - codesign KW - Computers KW - Conferences KW - data streams KW - embedded hardware KW - embedded systems KW - Hardware KW - hardware tasks KW - hardware-software codesign KW - image processing algorithms KW - JPEG2000 standards KW - middleware KW - middleware framework KW - modeling infrastructure KW - reconfigurable embedded systems KW - runtime behaviors KW - software tasks KW - software tool KW - software tools KW - Transform coding KW - Tutorials JF - Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the ER - TY - CONF T1 - Mobile Device Software: Model-Based Architectures and Examples T2 - Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the Y1 - 2013 A1 - Jonathan Sprinkle KW - API KW - application program interfaces KW - canonical UML models KW - Computational modeling KW - computer science education KW - Computers KW - Conferences KW - high-level software concepts KW - mobile computing KW - mobile device apps KW - mobile device programming KW - mobile device software KW - Mobile handsets KW - model-based architectures KW - model-based design KW - model-based examples KW - object-oriented programming KW - Software KW - software architecture KW - software engineering KW - terminology points KW - Tutorials KW - unclear starting points KW - Unified modeling language JF - Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the ER - TY - CONF T1 - Model Based Development with the Skeleton Design Method T2 - 20th IEEE International Conference and Workshops on the Engineering of Computer Based Systems Y1 - 2013 A1 - Sean Whitsitt A1 - Jonathan Sprinkle A1 - Roman Lysecky JF - 20th IEEE International Conference and Workshops on the Engineering of Computer Based Systems UR - http://dx.doi.org/10.1109/ECBS.2013.16 ER - TY - CONF T1 - Model-Based Software Synthesis for Self-Reconfigurable Sensor Network in Water Monitoring T2 - Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the Y1 - 2013 A1 - Kun Zhang A1 - Jonathan Sprinkle KW - accelerometers KW - Code Generation KW - communication task KW - computation task KW - Computational modeling KW - concurrent engineering KW - concurrent tasks specification KW - control tasks KW - cyber-physical systems KW - domain-specific modeling language KW - drifters KW - embedded programming KW - environmental monitoring (geophysics) KW - environmental science computing KW - floating sensor testbed KW - formal specification KW - Global Positioning System KW - GPS sensors KW - hand-written code KW - Instruction sets KW - mobile computing KW - mobile phone KW - mobile radio KW - mobile sensing platforms KW - model-based software synthesis KW - model-integrated computing KW - program compilers KW - Programming KW - self-reconfigurable sensor network KW - Smart phones KW - software synthesis KW - ubiquitous mobile device KW - Unified modeling language KW - water flow monitoring KW - wireless sensor networks JF - Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the UR - http://dx.doi.org/10.1109/ECBS.2013.34 ER - TY - JOUR T1 - Modeling Autonomous Systems JF - AIAA Journal of Aerospace Information Systems Y1 - 2013 A1 - Sean Whitsitt A1 - Jonathan Sprinkle VL - 10 UR - http://dx.doi.org/10.2514/1.I010039 ER - TY - CONF T1 - Runtime Hardware/Software Task Transition Scheduling for Runtime-Adaptable Embedded Systems T2 - International Conference on Field-Programmable Technology (ICFPT) Y1 - 2013 A1 - Nathan Sandoval A1 - Casey Mackin A1 - Sean Whitsitt A1 - Roman Lysecky A1 - Jonathan Sprinkle JF - International Conference on Field-Programmable Technology (ICFPT) UR - http://dx.doi.org/10.1109/FPT.2013.6718382 ER - TY - CONF T1 - System Throughput Optimization and Runtime Communication Middleware Supporting Dynamic Software-Hardware Task Migration in Data Adaptable Embedded Systems T2 - Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the Y1 - 2013 A1 - Nathan Sandoval A1 - Casey Mackin A1 - Sean Whitsitt A1 - Roman Lysecky A1 - Jonathan Sprinkle KW - combinatorial explosion KW - Data adaptability KW - data adaptable design methodology KW - data adaptable embedded systems KW - data configurations KW - data handling KW - Data models KW - data profile correlation KW - design time optimization KW - dynamic software-hardware task migration KW - embedded systems KW - Field programmable gate arrays KW - FIFO queues KW - Firing KW - Hardware KW - hardware accelerators KW - hardware-software codesign KW - hardware-software communication wrapper KW - hardware/software codesign KW - hardware/software communication middleware KW - heuristic programming KW - heuristic search methodology KW - middleware KW - model-based design KW - Pareto optimal configurations KW - Pareto optimisation KW - Runtime KW - runtime communication middleware KW - search problems KW - simulation-based methodology KW - system throughput optimization JF - Engineering of Computer Based Systems (ECBS), 2013 20th IEEE International Conference and Workshops on the ER - TY - CONF T1 - The 12th Workshop on Domain-specific Modeling T2 - Proceedings of the 3rd Annual Conference on Systems, Programming, and Applications: Software for Humanity Y1 - 2012 A1 - Juka-Pekka Tolvanen A1 - Jonathan Sprinkle A1 - Matti Rossi A1 - Jeffrey Gray KW - Code Generation KW - domain-specific languages KW - metamodeling KW - modeling languages JF - Proceedings of the 3rd Annual Conference on Systems, Programming, and Applications: Software for Humanity PB - ACM CY - New York, NY, USA SN - 978-1-4503-1563-0 UR - http://doi.acm.org/10.1145/2384716.2384784 ER - TY - CONF T1 - Automated Software Generation and Hardware Coprocessor Synthesis for Data-Adaptable Reconfigurable Systems T2 - Engineering of Computer Based Systems (ECBS), 2012 IEEE 19th International Conference and Workshops on Y1 - 2012 A1 - Milakovich, Andrew A1 - Vijay Gopinath A1 - Roman Lysecky A1 - Jonathan Sprinkle KW - Data adaptability KW - hardware/software codesign KW - model-based design AB -

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.

JF - Engineering of Computer Based Systems (ECBS), 2012 IEEE 19th International Conference and Workshops on UR - http://dx.doi.org/10.1109/ECBS.2012.16 ER - TY - CONF T1 - On the Extraction and Analysis of a Social Network with Partial Organizational Observation T2 - Proceedings of the 19th IEEE International Conference and Workshops on Engineering of Computer-Based Systems Y1 - 2012 A1 - Sean Whitsitt A1 - Abishek Gopalan A1 - Sangman Cho A1 - Jonathan Sprinkle A1 - Srinivasan Ramasubramanian A1 - Liana Suantak A1 - Jerzy Rozenblit AB -

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.

JF - Proceedings of the 19th IEEE International Conference and Workshops on Engineering of Computer-Based Systems UR - http://dx.doi.org/10.1109/ECBS.2012.33 ER - TY - JOUR T1 - A generic in-place transformation-based approach to structured model co-evolution JF - Electronic Communications of the European Association of Software Science and Technology (EASST) Y1 - 2012 A1 - Bart Meyers A1 - Manuel Wimmer A1 - Antonio Cicchetti A1 - Jonathan Sprinkle AB - 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. PB - ECEASST VL - 42 UR - http://journal.ub.tu-berlin.de/eceasst/article/view/608 ER - TY - CONF T1 - Identifying key components of variability using Energy based Control T2 - The 2012 Workshop on Variability Modeling and Characterization (VMC) Y1 - 2012 A1 - Fahd Shaikh A1 - Wei He A1 - Jonathan Sprinkle A1 - Janet Meiling Wang-Roveda AB - 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. JF - The 2012 Workshop on Variability Modeling and Characterization (VMC) ER - TY - Generic T1 - ME ’12: Proceedings of the 6th International Workshop on Models and Evolution Y1 - 2012 ED - Tamzalit, Dalila ED - Bernhard Schätz ED - Jonathan Sprinkle ED - Pierantonio, Alfonso PB - ACM CY - New York, NY, USA SN - 978-1-4503-1798-6 ER - TY - JOUR T1 - Metamodel-Based Metrics for Complexity of Using a DSML JF - Software and Systems Modeling Y1 - 2012 A1 - Jonathan Sprinkle VL - TBD ER - TY - JOUR T1 - Model-Based Configuration of a Heterogeneous Human-in-the-loop Command and Control Simulation Environment JF - tbd Y1 - 2012 A1 - Diyang Chu A1 - Jacob Gulotta A1 - Jonathan Sprinkle A1 - Himanshu Neema A1 - Harmon Nine A1 - Nicholas Kottenstette A1 - Graham Hemingway A1 - Janos Sztipanovits VL - tbd ER - TY - Generic T1 - MPM ’12: Proceedings of the 6th International Workshop on Multi-Paradigm Modeling Y1 - 2012 ED - Hardebolle, Cécile ED - Syriani, Eugene ED - Jonathan Sprinkle ED - Mészáros, Tamás PB - ACM CY - New York, NY, USA SN - 978-1-4503-1805-1 ER - TY - CONF T1 - An Overseer Control Methodology for Data Adaptable Embedded Systems T2 - International Workshop on Multi-Paradigm Modeling (MPM) Y1 - 2012 A1 - Sean Whitsitt A1 - Jonathan Sprinkle A1 - Roman Lysecky JF - International Workshop on Multi-Paradigm Modeling (MPM) UR - http://dx.doi.org/10.1145/2508443.2508448 ER - TY - CONF T1 - A Passenger Comfort Controller for an Autonomous Ground Vehicle T2 - 51st IEEE Conference on Decision and Control Y1 - 2012 A1 - Sean Whitsitt A1 - Jonathan Sprinkle JF - 51st IEEE Conference on Decision and Control UR - http://dx.doi.org/10.1109/CDC.2012.6426049 ER - TY - Generic T1 - Proceedings of the 12th Workshop on Domain-specific Modeling T2 - 3rd Annual Conference on Systems, Programming, and Applications: Software for Humanity Y1 - 2012 A1 - Juka-Pekka Tolvanen A1 - Jonathan Sprinkle A1 - Matti Rossi A1 - Jeffrey Gray JF - 3rd Annual Conference on Systems, Programming, and Applications: Software for Humanity PB - ACM CY - New York, NY, USA ER - TY - JOUR T1 - Reachability Calculations for Vehicle Safety during Manned/Unmanned Vehicle Interaction JF - AIAA Journal of Guidance, Control, and Dynamics Y1 - 2012 A1 - Jerry Ding A1 - Jonathan Sprinkle A1 - Claire Tomlin A1 - S. Shankar Sastry A1 - James L. Paunicka VL - 35 UR - http://dx.doi.org/10.2514/1.53706 ER - TY - CONF T1 - Summary of the 6th International Workshop on Multi-Paradigm Modeling (MPM’12) T2 - Proceedings of the 6th International Workshop on Multi-Paradigm Modeling Y1 - 2012 A1 - Hardebolle, Cécile A1 - Syriani, Eugene A1 - Jonathan Sprinkle A1 - Mészáros, Tamás KW - heterogeneous modeling KW - metamodeling KW - model driven engineering KW - multi-modeling KW - multi-paradigm modeling JF - Proceedings of the 6th International Workshop on Multi-Paradigm Modeling PB - ACM CY - New York, NY, USA SN - 978-1-4503-1805-1 UR - http://doi.acm.org/10.1145/2508443.2508444 ER - TY - JOUR T1 - Switched and Symmetric Pursuit/Evasion Games With Online Model Predictive Control JF - IEEE Transactions on Control Systems Technology Y1 - 2012 A1 - J. Mikael Eklund A1 - Jonathan Sprinkle A1 - S. Shankar Sastry AB -

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.

VL - 20 UR - http://dx.doi.org/10.1109/TCST.2011.2136435 ER - TY - CONF T1 - The 11th Workshop on Domain-specific Modeling T2 - Proceedings of the Compilation of the Co-located Workshops on DSM'11, TMC'11, AGERE! 2011, AOOPES'11, NEAT'11, & VMIL'11 Y1 - 2011 A1 - Juka-Pekka Tolvanen A1 - Jonathan Sprinkle A1 - Jeffrey Gray A1 - Matti Rossi KW - Code Generation KW - domain-specific languages KW - metamodeling KW - modeling languages JF - Proceedings of the Compilation of the Co-located Workshops on DSM'11, TMC'11, AGERE! 2011, AOOPES'11, NEAT'11, & VMIL'11 PB - ACM CY - New York, NY, USA SN - 978-1-4503-1183-0 UR - http://doi.acm.org/10.1145/2095050.2095052 ER - TY - CONF T1 - The 11th Workshop on Domain-specific Modeling T2 - Proceedings of the ACM International Conference Companion on Object Oriented Programming Systems Languages and Applications Companion Y1 - 2011 A1 - Juka-Pekka Tolvanen A1 - Jonathan Sprinkle A1 - Matti Rossi A1 - Jeffrey Gray KW - Code Generation KW - domain-specific languages KW - metamodeling KW - modeling languages JF - Proceedings of the ACM International Conference Companion on Object Oriented Programming Systems Languages and Applications Companion PB - ACM CY - New York, NY, USA SN - 978-1-4503-0942-4 UR - http://doi.acm.org/10.1145/2048147.2048227 ER - TY - CONF T1 - autoVHDL: a domain-specific modeling language for the auto-generation of VHDL core wrappers T2 - Proceedings of the compilation of the co-located workshops on DSM’11, TMC’11, AGERE!’11, AOOPES’11, NEAT’11, &\#38; VMIL’11 Y1 - 2011 A1 - Erica Jones A1 - Jonathan Sprinkle KW - code synthesis KW - domain-specific modeling KW - embedded systems KW - reconfigurable computing AB -

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–-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.

JF - Proceedings of the compilation of the co-located workshops on DSM’11, TMC’11, AGERE!’11, AOOPES’11, NEAT’11, &\#38; VMIL’11 T3 - SPLASH ’11 Workshops PB - ACM CY - New York, NY, USA SN - 978-1-4503-1183-0 UR - http://dx.doi.org/10.1145/2095050.2095063 ER - TY - CONF T1 - Constrained data acquisition for mobile citizen science applications T2 - Proceedings of the compilation of the co-located workshops on DSM’11, TMC’11, AGERE!’11, AOOPES’11, NEAT’11, & VMIL’11 Y1 - 2011 A1 - Sean Whitsitt A1 - Armando Barreto A1 - Maribel Hudson A1 - Hussain Al-Helal A1 - Diyang Chu A1 - Kamel Didan A1 - Jonathan Sprinkle KW - citizen scientist KW - domain-specific modeling KW - iphone KW - mobile phone programming AB -

The popularity and ubiquity of personal mobile computing devices–-coupled with their powerful sensing capabilities–-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.

JF - Proceedings of the compilation of the co-located workshops on DSM’11, TMC’11, AGERE!’11, AOOPES’11, NEAT’11, & VMIL’11 T3 - SPLASH ’11 Workshops PB - ACM CY - New York, NY, USA SN - 978-1-4503-1183-0 UR - http://dx.doi.org/10.1145/2095050.2095095 ER - TY - CONF T1 - Hardware/Software Communication Middleware for Data Adaptable Embedded Systems T2 - Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems Y1 - 2011 A1 - Sachidanand Mahadevan A1 - Vijay Gopinath A1 - Roman Lysecky A1 - Jonathan Sprinkle A1 - Jerzy Rozenblit A1 - Michael Marcellin AB -

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.

JF - Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems PB - IEEE Computer Society Press UR - http://dx.doi.org/10.1109/ECBS.2011.12 ER - TY - CONF T1 - Message Modeling for the Joint Architecture for Unmanned Systems (JAUS) T2 - Proceedings of the 8th IEEE Workshop on Model-Based Development for Computer-Based Systems Y1 - 2011 A1 - Sean Whitsitt A1 - Jonathan Sprinkle AB - 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. JF - Proceedings of the 8th IEEE Workshop on Model-Based Development for Computer-Based Systems UR - http://dx.doi.org/10.1109/ECBS.2011.17 ER - TY - CONF T1 - On the Mitigation of MultiCore-Induced Behavioral Deviations of an Autonomous Ground Vehicle T2 - Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems Y1 - 2011 A1 - Jonathan Sprinkle A1 - Brandon Eames AB -

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’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.

JF - Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems PB - IEEE UR - http://dx.doi.org/10.1109/ECBS.2011.29 ER - TY - CONF T1 - Modeling of Data Adaptable Reconfigurable Embedded Systems T2 - Proceedings of the 8th IEEE Workshop on Model-Based Development for Computer-Based Systems Y1 - 2011 A1 - Vijay Gopinath A1 - Jonathan Sprinkle A1 - Roman Lysecky AB -

Many applications require high flexibility, high configurability and high processing speeds. The physical constraints of a highly flexible system’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’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.

JF - Proceedings of the 8th IEEE Workshop on Model-Based Development for Computer-Based Systems UR - http://dx.doi.org/10.1109/ECBS.2011.31 ER - TY - Generic T1 - Proceedings of the 11th Workshop on Domain-Specific Modeling T2 - ACM International Conference Companion on Object Oriented Programming Systems Languages and Applications Y1 - 2011 A1 - Juka-Pekka Tolvanen A1 - Jonathan Sprinkle A1 - Matti Rossi A1 - Jeffrey Gray JF - ACM International Conference Companion on Object Oriented Programming Systems Languages and Applications PB - ACM CY - Portland, OR ER - TY - Generic T1 - Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems Y1 - 2011 A1 - Jonathan Sprinkle A1 - Sterritt, Roy A1 - Breitman, Karin PB - IEEE Computer Society CY - Las Vegas, NV ER - TY - CONF T1 - Simplification of Semantically-Rich Model Transformations Through Generated Transformation Blocks T2 - Proceedings of the 8th IEEE Workshop on Model-Based Development for Computer-Based Systems Y1 - 2011 A1 - Maribel Hudson A1 - Jonathan Sprinkle AB - 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. JF - Proceedings of the 8th IEEE Workshop on Model-Based Development for Computer-Based Systems UR - http://dx.doi.org/10.1109/ECBS.2011.28 ER - TY - CONF T1 - Teaching students to learn to learn mobile phone programming T2 - Proceedings of the compilation of the co-located workshops on DSM’11, TMC’11, AGERE!’11, AOOPES’11, NEAT’11, &\#38; VMIL’11 Y1 - 2011 A1 - Jonathan Sprinkle KW - learning styles KW - mobile phone programming KW - software engineering AB - 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. JF - Proceedings of the compilation of the co-located workshops on DSM’11, TMC’11, AGERE!’11, AOOPES’11, NEAT’11, &\#38; VMIL’11 T3 - SPLASH ’11 Workshops PB - ACM CY - New York, NY, USA SN - 978-1-4503-1183-0 UR - http://dx.doi.org/10.1145/2095050.2095094 ER - TY - JOUR T1 - Time-Triggered Buffers for Event-Based Middleware Systems JF - Innovations in Systems and Software Engineering Y1 - 2011 A1 - Jonathan Sprinkle A1 - Brandon Eames AB -

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.

PB - Springer London VL - 7 UR - http://dx.doi.org/10.1007/s11334-010-0139-7 ER - TY - Generic T1 - 10th Workshop on Domain-Specific Modeling (DSM’10) Y1 - 2010 ED - Matti Rossi ED - Juka-Pekka Tolvanen ED - Jonathan Sprinkle ED - Steven Kelly PB - OOPSLA/SPLASH N1 - {ISBN}: 978-952-60-1043-4 ER - TY - CONF T1 - Analysis of a metamodel to estimate complexity of using a domain-specific language T2 - Proceedings of the 10th Workshop on Domain-Specific Modeling Y1 - 2010 A1 - Jonathan Sprinkle KW - metamodel KW - metric KW - usability KW - user interface JF - Proceedings of the 10th Workshop on Domain-Specific Modeling T3 - DSM ’10 PB - ACM CY - New York, NY, USA SN - 978-1-4503-0549-5 UR - http://dx.doi.org/10.1145/2060329.2060359 ER - TY - CONF T1 - Citizen Science in Support of Vegetation Index and Phenology Research T2 - Phenology Research and Observations of Southwest Ecosystems Symposium (PROSE) Y1 - 2010 A1 - Sean Whitsitt A1 - Armando Barreto A1 - Sundaresh Ram A1 - Hussain Al-Helal A1 - Maribel Hudson A1 - Diyang Chu A1 - Jonathan Sprinkle A1 - Kamel Didan AB -

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.

JF - Phenology Research and Observations of Southwest Ecosystems Symposium (PROSE) ER - TY - CHAP T1 - Metamodelling T2 - Model-Based Engineering of Embedded Real-Time Systems Y1 - 2010 A1 - Jonathan Sprinkle A1 - Bernhard Rumpe A1 - Hans Vangheluwe A1 - Gábor Karsai JF - Model-Based Engineering of Embedded Real-Time Systems T3 - Lecture Notes in Computer Science PB - Springer VL - 6100 UR - http://www.springer.com/computer/swe/book/978-3-642-16276-3 ER - TY - CHAP T1 - Model Evolution and Management T2 - Model-Based Engineering of Embedded Real-Time Systems Y1 - 2010 A1 - Tíhamer Levendovszky A1 - Bernhard Rumpe A1 - Bernhard Schätz A1 - Jonathan Sprinkle A1 - Hans Vangheluwe JF - Model-Based Engineering of Embedded Real-Time Systems T3 - Lecture Notes in Computer Science PB - Springer VL - 6100 UR - http://www.springer.com/computer/swe/book/978-3-642-16276-3 ER - TY - CONF T1 - Modeling Languages Applied to Decision Controllers for Embedded Human Systems T2 - Seventh IEEE International Conference and Workshops on Engineering of Autonomic and Autonomous Systems (EAsE 2010) Y1 - 2010 A1 - Jonathan Sprinkle A1 - Diyang Chu JF - Seventh IEEE International Conference and Workshops on Engineering of Autonomic and Autonomous Systems (EAsE 2010) PB - IEEE UR - http://dx.doi.org/10.1109/EASe.2010.24 ER - TY - JOUR T1 - Simulations and Flight Experiments of Transition Maneuvers of a VTOL Micro Air Vehicle JF - International Journal of Micro Air Vehicles Y1 - 2010 A1 - Diyang Chu A1 - Jonathan Sprinkle A1 - Ryan Randall A1 - Sergey Shkarayev VL - 2 UR - http://dx.doi.org/10.1260/1756-8293.2.2.69 N1 - {ISSN} 1756-8293 ER - TY - CONF T1 - UAV Search : Maximizing Target Acquisition T2 - 17th IEEE Conference on the Engineering of Computer Based Systems Y1 - 2010 A1 - Hussain Al-Helal A1 - Jonathan Sprinkle JF - 17th IEEE Conference on the Engineering of Computer Based Systems PB - IEEE UR - http://dx.doi.org/10.1109/ECBS.2010.9 ER - TY - Generic T1 - 9th OOPSLA Workshop on Domain-Specific Modeling (DSM’09) Y1 - 2009 ED - Matti Rossi ED - Jonathan Sprinkle ED - Jeffrey Gray ED - Juka-Pekka Tolvanen PB - OOPSLA UR - http://hsepubl.lib.hse.fi/FI/publ/hse/b108 N1 - ISBN: 978-952-488-371-9 ER - TY - CONF T1 - Automatic Control of VTOL Micro Air Vehicle During Transition Maneuver T2 - AIAA Guidance, Navigation and Control Conference Y1 - 2009 A1 - Diyang Chu A1 - Jonathan Sprinkle A1 - Ryan Randall A1 - Sergey Shkarayev JF - AIAA Guidance, Navigation and Control Conference PB - AIAA UR - http://pdf.aiaa.org/preview/CDReadyMGNC09_1998/PV2009_5875.pdf N1 - {AIAA-2009-5875} ER - TY - JOUR T1 - A Community Report of the 2008 High Confidence Transportation Cyber-Physical Systems (HCTCPS) Workshop Y1 - 2009 A1 - Radha Poovendran A1 - Raj Rajkumar A1 - David Corman A1 - Jim Paunicka A1 - William P. Milam A1 - K Venkatesh Prasad A1 - Shige Wang A1 - Jim Barhorst A1 - Christopher Gill A1 - Sandeep Gupta A1 - Krishna Sampigethaya A1 - Jonathan Sprinkle A1 - Doug Stuart A1 - Wayne Wolf A1 - Rahul Mangharam CY - High Confidence Transportation Cyber-Physical Systems (HCTCPS) UR - http://www.ee.washington.edu/research/nsl/aar-cps/ ER - TY - JOUR T1 - Fundamental Limitations in Domain-Specific Language Evolution Y1 - 2009 A1 - Jonathan Sprinkle A1 - Jeffrey Gray A1 - Marjan Mernik AB -

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.

PB - University of Arizona CY - 1230 E. Speedway Blvd., Bldg. 104 UR - http://www.ece.arizona.edu/ sprinkjm/wiki/uploads/Publications/sprinkle-tse2009-domainevolution-submitted.pdf ER - TY - JOUR T1 - Guest Editors’ Introduction: What Kinds of Nails Need a Domain-Specific Hammer? JF - IEEE Software Y1 - 2009 A1 - Jonathan Sprinkle A1 - Marjan Mernik A1 - Juka-Pekka Tolvanen A1 - Diomidis Spinellis PB - IEEE Computer Society CY - Los Alamitos, CA, USA VL - 26 UR - http://dx.doi.org/10.1109/MS.2009.92 ER - TY - CONF T1 - Model-Based Autosynthesis of Time-Triggered Buffers for Event-Based Middleware Systems T2 - 9th OOPSLA Workshop on Domain-Specific Modeling Y1 - 2009 A1 - Jonathan Sprinkle A1 - Brandon Eames JF - 9th OOPSLA Workshop on Domain-Specific Modeling UR - http://www.dsmforum.org/events/DSM09/Papers/Sprinkle.pdf ER - TY - JOUR T1 - Model-based design: a report from the trenches of the DARPA Urban Challenge JF - Software and Systems Modeling Y1 - 2009 A1 - Jonathan Sprinkle A1 - J. Mikael Eklund A1 - Humberto Gonzalez A1 - Esten Ingar Grøtli A1 - Ben Upcroft A1 - Alex Makarenko A1 - Will Uther A1 - Michael Moser A1 - Robert Fitch A1 - Hugh Durrant-Whyte A1 - S. Shankar Sastry AB - 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. PB - Springer Berlin / Heidelberg VL - 8 UR - http://dx.doi.org/10.1007/s10270-009-0116-5 ER - TY - JOUR T1 - Synthesizing Executable Simulations from Structural Models of Component-Based Systems JF - Electronic Communications of the European Association of Software Science and Technology (EASST) Y1 - 2009 A1 - Andreas Schuster A1 - Jonathan Sprinkle VL - 21 UR - http://eceasst.cs.tu-berlin.de/index.php/eceasst/article/view/289/280 N1 - {ISSN} 1863-2122 ER - TY - CONF T1 - Using Integrative Models in an Advanced Heterogeneous System Simulation T2 - IEEE International Conference on the Engineering of Computer-Based Systems Y1 - 2009 A1 - Jacob Gulotta A1 - Diyang Chu A1 - Ximing Yu A1 - Hussain Al-Helal A1 - Tapasya Patki A1 - Jason Hansen A1 - Maribel Hudson A1 - Jonathan Sprinkle JF - IEEE International Conference on the Engineering of Computer-Based Systems PB - IEEE Computer Society CY - Los Alamitos, CA, USA SN - 978-0-7695-3602-6 UR - http://doi.ieeecomputersociety.org/10.1109/ECBS.2009.42 ER - TY - Generic T1 - 8th OOPSLA Workshop on Domain-Specific Modeling (DSM’08) Y1 - 2008 ED - Jeffrey Gray ED - Jonathan Sprinkle ED - Matti Rossi ED - Juka-Pekka Tolvanen PB - OOPSLA UR - http://www.dsmforum.org/events/DSM08/Papers/DSM08-proceedings.pdf N1 - {ISBN: 978-0-61523-024-5} ER - TY - CONF T1 - Reachability Calculations for Automated Aerial Refueling T2 - 47th IEEE Conference on Decision and Control Y1 - 2008 A1 - Jerry Ding A1 - Jonathan Sprinkle A1 - S. Shankar Sastry A1 - Claire J. Tomlin JF - 47th IEEE Conference on Decision and Control UR - http://dx.doi.org/10.1109/CDC.2008.4738998 ER - TY - JOUR T1 - Recovering Models of a Four-Wheel Vehicle Using Vehicular System Data Y1 - 2008 A1 - Jonathan Sprinkle A1 - J. Mikael Eklund A1 - Humberto Gonzalez A1 - Esten Ingar Grøtli A1 - Pannag R Sanketi A1 - Michael Moser A1 - S. Shankar Sastry AB -

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.

PB - University of California, Berkeley UR - http://chess.eecs.berkeley.edu/pubs/405.html ER - TY - CONF T1 - Transitioning Control and Sensing Technologies from Fully-autonomous Driving to Driver Assistance Systems T2 - AAET: Automation, Assistance, and Embedded Systems for Transportation Y1 - 2008 A1 - Humberto Gonzalez A1 - Esten I. Grøtli A1 - Todd R. Templeton A1 - Jan O. Biermeyer A1 - Jonathan Sprinkle A1 - S. Shankar Sastry JF - AAET: Automation, Assistance, and Embedded Systems for Transportation PB - Technical University, Braunschweig ER - TY - CONF T1 - Using Integrative Modeling for Advanced Heterogeneous System Simulation T2 - The 8th OOPSLA Workshop on Domain-Specific Modeling Y1 - 2008 A1 - Tapasya Patki A1 - Hussain Al-Helal A1 - Jacob Gulotta A1 - Jason Hansen A1 - Jonathan Sprinkle JF - The 8th OOPSLA Workshop on Domain-Specific Modeling UR - http://www.dsmforum.org/events/DSM08/Papers/14-Patki.pdf ER - TY - Generic T1 - 7th OOPSLA Workshop on Domain-Specific Modeling (DSM’07) Y1 - 2007 ED - Jonathan Sprinkle ED - Jeffrey Gray ED - Matti Rossi ED - Juka-Pekka Tolvanen PB - OOPSLA CY - Jyväskylä, Finland UR - http://www.dsmforum.org/events/DSM07/Papers.html N1 - ISBN: 978-951-39-2915-2 ER - TY - JOUR T1 - DARPA Urban Challenge Technical Paper: Sydney-Berkeley Driving Team Y1 - 2007 A1 - Ben Upcroft A1 - Michael Moser A1 - Alexi Makarenko A1 - David Johnson A1 - Ashod Donikan A1 - Alen Alempijevic A1 - Robert Fitch A1 - William Uther A1 - Jan Biermeyer A1 - Humberto Gonzalez A1 - Esten Ingar Grøtli A1 - Todd Templeton A1 - Vason P. Srini A1 - Jonathan Sprinkle PB - University of Sydney; University of Technology, Sydney; University of California, Berkeley UR - http://chess.eecs.berkeley.edu/pubs/379.html ER - TY - CHAP T1 - Domain-Specific Modeling T2 - Handbook of Dynamic System Modeling Y1 - 2007 A1 - Jeffrey Gray A1 - Juka-Pekka Tolvanen A1 - Steven Kelly A1 - Aniruddha Gokhale A1 - Sandeep Neema A1 - Jonathan Sprinkle ED - Paul A. Fishwick JF - Handbook of Dynamic System Modeling PB - Chapman & Hall/CRC N1 - ISBN: 1584885653 ER - TY - CONF T1 - Transitioning Intelligence to Embedded Platforms T2 - AVT-146 Symposium on "Platform Innovations and System Integration for Unmanned Air, Land and Sea Vehicles" Y1 - 2007 A1 - J. Mikael Eklund A1 - Jonathan Sprinkle A1 - Todd Templeton A1 - S. Shankar Sastry JF - AVT-146 Symposium on "Platform Innovations and System Integration for Unmanned Air, Land and Sea Vehicles" T3 - Applied Vehicle Technology PB - NATO UR - http://handle.dtic.mil/100.2/ADA478691 ER - TY - Generic T1 - 6th OOPSLA Workshop on Domain-Specific Modeling (DSM’06) Y1 - 2006 ED - Juka-Pekka Tolvanen ED - Jeffrey Gray ED - Jonathan Sprinkle PB - OOPSLA CY - Jyväskylä, Finland N1 - ISBN: 951-39-2631-1 ER - TY - JOUR T1 - Model Based Systems Engineering Y1 - 2006 A1 - Jonathan Sprinkle ER - TY - Generic T1 - 5th OOPSLA Workshop on Domain-Specific Modeling (DSM’05) Y1 - 2005 ED - Juka-Pekka Tolvanen ED - Jonathan Sprinkle ED - Matti Rossi PB - OOPSLA CY - Jyväskylä, Finland N1 - ISBN 951-39-2202-2 ER - TY - CONF T1 - Computing Inverse MEG Signals in the Brain T2 - 2005 IEEE Computational Systems Bioinformatics Conference, Controlling Complexity Y1 - 2005 A1 - J. Mikael Eklund A1 - Ruzena Bajcsy A1 - Jonathan Sprinkle A1 - Gregory V. Simpson JF - 2005 IEEE Computational Systems Bioinformatics Conference, Controlling Complexity UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1540637 ER - TY - CONF T1 - Deciding to Land a UAV Safely in Real Time T2 - Proceedings of American Control Conference (ACC) 2005 Y1 - 2005 A1 - Jonathan Sprinkle A1 - J. Mikael Eklund A1 - S. Shankar Sastry JF - Proceedings of American Control Conference (ACC) 2005 UR - http://dx.doi.org/10.1109/ACC.2005.1470516 ER - TY - CONF T1 - Fault Tolerant Data Flow Modeling Using the Generic Modeling Environment T2 - 12th Annual IEEE International Conference and Workshop on the Engineering of Computer Based Systems Y1 - 2005 A1 - Mark L. McKelvin, Jr A1 - Jonathan Sprinkle A1 - Claudio Pinello A1 - Alberto Sangiovanni-Vincentelli JF - 12th Annual IEEE International Conference and Workshop on the Engineering of Computer Based Systems UR - http://dx.doi.org/10.1109/ECBS.2005.38 ER - TY - JOUR T1 - Generative Components for Hybrid Systems Tools JF - Journal of Object Technology Y1 - 2005 A1 - Jonathan Sprinkle VL - 4 UR - http://www.jot.fm/issues/issue_2005_04/article5 N1 - {Special Issue from GPCE Young Researchers Workshop} ER - TY - CONF T1 - Implementing and Testing a Nonlinear Model Predictive Tracking Controller for Aerial Pursuit Evasion Games on a Fixed Wing Aircraft T2 - Proceedings of American Control Conference (ACC) 2005 Y1 - 2005 A1 - J. Mikael Eklund A1 - Jonathan Sprinkle A1 - S. Shankar Sastry JF - Proceedings of American Control Conference (ACC) 2005 UR - http://dx.doi.org/10.1109/ACC.2005.1470179 ER - TY - CONF T1 - Information Technology for Assisted Living at Home: Building a Wireless Infrastructure for Assisted Living T2 - 27th Annual International Conference of the IEEE Engineering In Medicine and Biology Society (EMBS) Y1 - 2005 A1 - J. Mikael Eklund A1 - Thomas Risgaard Hansen A1 - Jonathan Sprinkle A1 - S. Shankar Sastry JF - 27th Annual International Conference of the IEEE Engineering In Medicine and Biology Society (EMBS) T3 - Innovation from Biomolecules to Biosystems UR - http://dx.doi.org/10.1109/IEMBS.2005.1615321 ER - TY - JOUR T1 - Online Safety Calculations for Glideslope Recapture JF - Innovations in Systems and Software Engineering Y1 - 2005 A1 - Jonathan Sprinkle A1 - Aaron D. Ames A1 - J. Mikael Eklund A1 - Ian Mitchell A1 - S. Shankar Sastry VL - 1 UR - http://dx.doi.org/10.1007/s11334-005-0017-x ER - TY - CONF T1 - On the Partitioning of Syntax and Semantics For Hybrid Systems Tools T2 - 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005 (CDC-ECC’05) Y1 - 2005 A1 - Jonathan Sprinkle A1 - Aaron D. Ames A1 - Alessandro Pinto A1 - Haiyang Zheng A1 - S. Shankar Sastry JF - 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005 (CDC-ECC’05) UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1582903 ER - TY - ABST T1 - User’s Guide to the PublicationsDatabase Y1 - 2005 A1 - Jonathan Sprinkle UR - http://www.eecs.berkeley.edu/ sprinkle/work/pubdb/ N1 - Available at \url{http://www.eecs.berkeley.edu/ sprinkle/work/pubdb} ER - TY - CONF T1 - Using smart sensors and a camera phone to detect and verify the fall of elderly persons T2 - 3rd European Medicine, Biology and Engineering Conference Y1 - 2005 A1 - Hansen, T.R. A1 - Eklund, J.M. A1 - Jonathan Sprinkle A1 - Bajcsy, R. A1 - Sastry, S. JF - 3rd European Medicine, Biology and Engineering Conference ER - TY - CONF T1 - Using the Hybrid Systems Interchange Format to Input Design Models to Verification & Validation Tools T2 - IEEE Aerospace Conference, Verification and Validation Y1 - 2005 A1 - Jonathan Sprinkle A1 - Omid Shakernia A1 - Robert Miller A1 - S. Shankar Sastry JF - IEEE Aerospace Conference, Verification and Validation UR - http://dx.doi.org/10.1109/AERO.2005.1559595 ER - TY - Generic T1 - 4th OOPSLA Workshop on Domain-Specific Modeling (DSM’04) Y1 - 2004 ED - Juka-Pekka Tolvanen ED - Jonathan Sprinkle ED - Matti Rossi PB - OOPSLA CY - Jyväskylä, Finland UR - http://www.dsmforum.org/events/DSM04/Proceedings-DSM04.zip N1 - ISBN: 951-39-1947-1 ER - TY - JOUR T1 - A Domain-Specific Visual Language for Domain Model Evolution JF - Journal of Visual Languages and Computing Y1 - 2004 A1 - Jonathan Sprinkle A1 - Gábor Karsai VL - 15 UR - http://dx.doi.org/10.1016/j.jvlc.2004.01.006 N1 - Special Issue: Domain-Specific Modeling with Visual Languages ER - TY - CONF T1 - Encoding Aerial Pursuit/Evasion Games with Fixed Wing Aircraft into a Nonlinear Model Predictive Tracking Controller T2 - Proceedings of the 43rd IEEE Conference on Decision and Control Y1 - 2004 A1 - Jonathan Sprinkle A1 - J. Mikael Eklund A1 - H. Jin Kim A1 - S. Shankar Sastry JF - Proceedings of the 43rd IEEE Conference on Decision and Control VL - 3 UR - http://dx.doi.org/10.1109/CDC.2004.1428851 ER - TY - JOUR T1 - Forgetting UML (A Useful Guide to Formal Modeling) Y1 - 2004 A1 - Jonathan Sprinkle N1 - Berkeley Weekly Chess Seminar ER - TY - CONF T1 - Generative Components for Hybrid Systems Tools T2 - Generative Programming and Component Engineering (GPCE) 2004, Young Researchers Workshop Y1 - 2004 A1 - Jonathan Sprinkle JF - Generative Programming and Component Engineering (GPCE) 2004, Young Researchers Workshop PB - Reprinted in J. of Obj. Tech. UR - http://www.jot.fm/issues/issue_2005_04/article5 ER - TY - CONF T1 - Improving CBS Tool Development with Technological Spaces T2 - Eleventh IEEE International Conference and Workshop on the Engineering of Computer-Based Systems Y1 - 2004 A1 - Jonathan Sprinkle JF - Eleventh IEEE International Conference and Workshop on the Engineering of Computer-Based Systems UR - http://dx.doi.org/10.1109/ECBS.2004.1316702 ER - TY - JOUR T1 - Model-Integrated Computing JF - IEEE Potentials Y1 - 2004 A1 - Jonathan Sprinkle VL - 23 UR - http://dx.doi.org/10.1109/MP.2004.1266937 ER - TY - CONF T1 - A Paradigm for Teaching Modeling Environment Design T2 - OOPSLA’04 Educators Symposium (Poster Session) Y1 - 2004 A1 - Jonathan Sprinkle A1 - James Davis A1 - Greg Nordstrom JF - OOPSLA’04 Educators Symposium (Poster Session) PB - ACM UR - http://www.eecs.berkeley.edu/ sprinkle/work/publications/rep/TeachingModelingWithGME.pdf ER - TY - JOUR T1 - Pursuit/Evasion of Fixed-wing Aircraft through Model-Predictive Control Y1 - 2004 A1 - Jonathan Sprinkle A1 - J. Mikael Eklund A1 - H. Jin Kim A1 - S. Shankar Sastry N1 - The NASA/Goddard Space Flight Centers Information Science and Technology (IS&T) Colloquium Series ER - TY - CONF T1 - Toward Design Parameterization Support for Model Predictive Control T2 - IEEE 4th International Conference on Intelligent Systems Design and Application Y1 - 2004 A1 - Jonathan Sprinkle A1 - J. Mikael Eklund A1 - S. Shankar Sastry JF - IEEE 4th International Conference on Intelligent Systems Design and Application PB - IEEE UR - http://www.eecs.berkeley.edu/ sprinkle/work/publications/rep/sprinkleISDA2004-final.pdf N1 - ISBN: 963-7154-30-2 ER - TY - CONF T1 - A Visual Language for Describing Instruction Sets and Generating Decoders T2 - OOPSLA, 4th Workshop on Domain Specific Modeling Y1 - 2004 A1 - Trevor Meyerowitz A1 - Jonathan Sprinkle A1 - Alberto Sangiovanni-Vincentelli JF - OOPSLA, 4th Workshop on Domain Specific Modeling UR - http://www.dsmforum.org/events/DSM04/Meyerowitz.pdf ER - TY - JOUR T1 - ANEMIC: Automatic Interface Enabler for Model Integrated Computing JF - Lecture Notes in Computer Science Y1 - 2003 A1 - Steve Nordstrom A1 - Shweta Shetty A1 - Kumar Guarav Chhokra A1 - Jonathan Sprinkle A1 - Brandon Eames A1 - Ákos Lédeczi VL - 2830 UR - http://dx.doi.org/10.1007/978-3-540-39815-8_9 N1 - ISBN: 3-540-20102-5 ER - TY - CONF T1 - ANEMIC: Automatic Interface Enabler for Model Integrated Computing T2 - Generative Programming and Component Engineering (GPCE ’03) Y1 - 2003 A1 - Steve Nordstrom A1 - Shweta Shetty A1 - Kumar Guarav Chhokra A1 - Jonathan Sprinkle A1 - Brandon Eames A1 - Ákos Lédeczi JF - Generative Programming and Component Engineering (GPCE ’03) UR - http://www.isis.vanderbilt.edu/publications/archive/Nordstrom_SG_9_22_2003_ANEMIC__Au.pdf ER - TY - CONF T1 - Domain Translation Using Graph Transformations T2 - Tenth IEEE International Conference and Workshop on the Engineering of Computer-Based Systems Y1 - 2003 A1 - Jonathan Sprinkle A1 - Aditya Agrawal A1 - Tíhamer Levendovszky A1 - Feng Shi A1 - Gábor Karsai JF - Tenth IEEE International Conference and Workshop on the Engineering of Computer-Based Systems UR - http://dx.doi.org/10.1109/ECBS.2003.1194795 ER - TY - CONF T1 - Managing Intent: The Driving Forces of Model Transformations T2 - {UML} 2003, Workshop in Software Model Engineering Y1 - 2003 A1 - Jonathan Sprinkle JF - {UML} 2003, Workshop in Software Model Engineering UR - http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_J_10_21_2003_Managing_I.pdf ER - TY - JOUR T1 - Metamodel Based Model Migration Y1 - 2003 A1 - Jonathan Sprinkle PB - Vanderbilt University CY - 2015 Terrace Place UR - http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_JM_2_5_2003_Metamodel_.pdf ER - TY - THES T1 - Metamodel Driven Model Migration Y1 - 2003 A1 - Jonathan Sprinkle PB - Vanderbilt University CY - Nashville, TN 37203 UR - http://www.isis.vanderbilt.edu/sites/default/files/Sprinkle_JM_8_0_2003_Metamodel_.pdf ER - TY - CONF T1 - Model Migration through Visual Modeling T2 - OOPSLA, 3rd ACM Workshop on Domain-Specific Modeling Y1 - 2003 A1 - Jonathan Sprinkle A1 - Gábor Karsai JF - OOPSLA, 3rd ACM Workshop on Domain-Specific Modeling UR - http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_J_10_26_2003_Model_Migr.pdf ER - TY - JOUR T1 - On the Use of Graph Transformation in the Formal Specification of Model Interpreters JF - Journal of Universal Computer Science Y1 - 2003 A1 - Gábor Karsai A1 - Aditya Agrawal A1 - Feng Shi A1 - Jonathan Sprinkle VL - 9 UR - http://www.jucs.org/jucs_9_11/on_the_use_of/Karsai_G.pdf ER - TY - JOUR T1 - Computer-aided aircraft maintenance scheduling Y1 - 2002 A1 - Christopher P. van Buskirk A1 - Benoit Dawant A1 - Gábor Karsai A1 - Jonathan Sprinkle A1 - Gabor Szokoli A1 - Karlkim Suwanmongkol A1 - Russ Currer PB - Vanderbilt University CY - 2015 Terrace Place ER - TY - CONF T1 - Domain Evolution in Visual Languages Using Graph Transformations T2 - OOPSLA, 2nd ACM OOPSLA Workshop on Domain-Specific Languages Y1 - 2002 A1 - Jonathan Sprinkle A1 - Aditya Agrawal A1 - Tíhamer Levendovszky A1 - Feng Shi A1 - Gábor Karsai JF - OOPSLA, 2nd ACM OOPSLA Workshop on Domain-Specific Languages UR - http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_JM_11_4_2002_Domain_Evo.doc ER - TY - CONF T1 - Generative Programming via Graph Transformations in the Model-Driven Architecture T2 - OOPSLA, Workshop on Generative Techniques in the Context of Model Driven Architecture Y1 - 2002 A1 - Aditya Agrawal A1 - Tíhamer Levendovszky A1 - Jonathan Sprinkle A1 - Feng Shi A1 - Gábor Karsai JF - OOPSLA, Workshop on Generative Techniques in the Context of Model Driven Architecture UR - http://www.isis.vanderbilt.edu/publications/archive/Agrawal_A_11_5_2002_Generative.pdf ER - TY - JOUR T1 - Composing Domain-Specific Design Environments JF - IEEE Computer Y1 - 2001 A1 - Ákos Lédeczi A1 - Árpad Bakay A1 - Miklos Maroti A1 - Péter Volgyesi A1 - Greg Nordstrom A1 - Jonathan Sprinkle A1 - Gábor Karsai VL - 34 UR - http://dx.doi.org/10.1109/2.963443 ER - TY - JOUR T1 - GME 2000 Users Manual (v2.0) Y1 - 2001 A1 - Ákos Lédeczi A1 - Miklos Maroti A1 - Árpad Bakay A1 - Greg Nordstrom A1 - Jason T. Garrett A1 - Chuck Thomason A1 - Jonathan Sprinkle A1 - Péter Volgyesi PB - Vanderbilt University, ISIS ER - TY - CONF T1 - The New Metamodeling Generation T2 - Eighth Annual IEEE International Conference and Workshop on the Engineering of Computer Based Systems Y1 - 2001 A1 - Jonathan Sprinkle A1 - Gábor Karsai A1 - Ákos Lédeczi A1 - Greg Nordstrom JF - Eighth Annual IEEE International Conference and Workshop on the Engineering of Computer Based Systems UR - http://dx.doi.org/10.1109/ECBS.2001.922433 ER - TY - THES T1 - Model Integrated Program Synthesis of Agent Negotiation Protocols Y1 - 2000 A1 - Jonathan Sprinkle PB - Vanderbilt University CY - Nashville, TN 37203 ER - TY - CONF T1 - Modeling Agent Negotiation T2 - Proceedings of the 2000 IEEE International Conference on Systems, Man, and Cybernetics Y1 - 2000 A1 - Jonathan Sprinkle A1 - Christopher P. van Buskirk A1 - Gábor Karsai JF - Proceedings of the 2000 IEEE International Conference on Systems, Man, and Cybernetics VL - 1 UR - http://dx.doi.org/10.1109/ICSMC.2000.885034 ER - TY - CONF T1 - Towards a Standard for Model Specification and Storage T2 - Proceedings of the IEEE Systems, Man, and Cybernetics Conference Y1 - 2000 A1 - Dinesh Deva A1 - Jonathan Sprinkle A1 - Greg Nordstrom A1 - Miklos Maroti JF - Proceedings of the IEEE Systems, Man, and Cybernetics Conference UR - http://dx.doi.org/10.1109/ICSMC.2000.885018 ER - TY - JOUR T1 - Automobile Localization with Commodity Sensors JF - (under review) Y1 - 0 A1 - Kun Zhang A1 - Jonathan Sprinkle ER - TY - CONF T1 - A Domain-Specific Modeling Environment Applied to the Design of an Embedded Human System T2 - TBD Y1 - 0 A1 - Jonathan Sprinkle KW - dsml JF - TBD ER - TY - JOUR T1 - Fundamental Limitations in Domain-Specific Language Evolution JF - (in preparation) Y1 - 0 A1 - Jonathan Sprinkle A1 - Jeffrey Gray A1 - Marjan Mernik AB -

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.

VL - (tbd) ER -