CIS 540: Principles of Embedded Computation, Spring 2014
- Instructor: Rajeev Alur
- Lectures: Monday, Wednesday, 10.30 -- Noon, Moore 212
- Recitation: Friday, Noon -- 1pm, Moore 212
- Teaching Assistant: Rahul Vasist (
- Office Hours: Rajeev Alur: Tuesday, 4-5pm (Levine 609); Rahul Vasist: Monday, 4-5pm
(Education Commons, Room 230)
This course is focused on the principles underlying design and analysis of
computational elements that interact with the physical environment.
Increasingly, such embedded computers are everywhere, from
smart cameras to medical devices to automobiles.
While the classical
theory of computation focuses on the function that a program computes,
to understand embedded computation, we need to focus on the
reactive nature of the interaction of a component with its
environement via inputs and outputs, the continuous dynamics of the physical
world, different ways of communication among components, and
requirements concerning safety, timeliness, stability, and performance.
Developing tools for approaching design, analysis, and implementation of
embedded systems in a principled manner is an active research area.
This course will attempt to give students a coherent introduction to
this emerging area.
This course assumes mathematical maturity, commensurate with
either ESE 210 (Introduction to Dynamical Systems) or
CIS 262 (Introduction to Theory of Computation).
It is suitable for students who have undergraduate degree in computer science,
or computer engineering, or electrical engineering. It is also suitable for
Penn undergraduates in CSCI and CMPE as an upper-level elective.
Principles of Cyber-Physical Systems; R. Alur, 2014, MIT Press (To appear).
Draft is available to registered students: stop by at the copy center (ground floor of Levine),
and ask for a copy.
Comments on the textbook draft are most welcome (typos, errors, suggestions for improving the explanation/presentation). Email your comments to alur@cis.
- Six Homeworks (30%): Each such homework will consist of theoretical problems.
- Three Modeling Projects (15%): Each such project will involve modeling and analysis.
First project involves the model checker SPIN, the second involves Matlab, and the third will use
- Midterm (20%): In-class exam (March 5)
- Final Exam (35%) (May 9)
- Introduction: Jan 15 Slides
- Chapter 2: Synchronous Models; Jan 24 Slides,
Jan 27 Slides,
Jan 29 Slides,
Feb 3 Slides
- Chapter 3: Safety Requirements; Feb 5 Slides,
Feb 10 Slides,
Feb 12 Slides,
Feb 17 Slides
- Chapter 4: Asynchronous Models; Feb 19 Slides,
Feb 24 Slides,
Feb 26 Slides,
March 3 Slides
- Midterm: March 5
- Chapter 5: Model Checking;
March 17 Slides,
March 19 Slides,
March 24 Slides,
March 26 Slides
- Chapter 6: Dynamical Systems; March 31 Slides,
April 2 Slides,
April 7 Slides,
April 9 Slides
- Chapter 7: Timed Models; April 14 Slides,
April 16 Slides,
April 21 Slides
- Chapter 9: Hybrid Systems; April 28 Slides, April 30 Slides
- Final Exam: Friday, May 9, 12-2, Moore 216.
- Homework 1 (Due Feb 5): Ex 2.10 (4pts); Ex 2.12 (4pts); Ex 2.16 (4pts); Ex 2.20 (8pts); Solutions
- Homework 2 (Due Feb 19); Solutions
- Homework 3 (Due Tuesday, March 4, Noon): Exercises 4.2, 4.9, 4.12, and 4.17. (5pts each); Solutions
- Preparing for the midterm
- Midterm; Solutions
- Homework 4 (Due March 28);
Template SPIN code;
Slides from recitation;
Railroad controller example in Promela
- Homework 5 (Due April 2): Exercises 5.4, 5.5, 5.11, and 5.14. (5pts each); Solutions
- Homework 6 (Due April 18)
- Homework 7 (Due April 25): Exercises 6.14, 6.18, 7.2, and 7.8. (5pts each); Solutions
- Homework 8 (Due May 2): Exercises 7.15, 7.16, 9.2, and 9.4. (5pts each);
- Preparing for the final exam
The closest match is
Introduction to Embedded Systems -- A Cyber-Physical Systems Approach
by E.A. Lee and S.A. Seshia. (see online version)
See also the course Foundations of cyber-physical systems by Andre Platzer and corresponding lecture notes.
Following books are also relevant for supplementary reading for different chapters:
Relevant Modeling and Analysis Software
- Lecture participation: If you are lost during a lecture, do not hesitate to ask questions.
When I ask a question, don't be shy, and answer it the best way you can. Finally, if you do not want to
pay attention during lectures, stay home! You are not allowed to use electronic devices such as laptops
and mobile phones during a lecture.
- Recitation: Recitation will not cover new material, and will be used
to solve exercises, answer questions, and review background material.
- Grades will posted on canvas.
- Plagiarism policy: For homeworks, projects, and exams, you can use your
personal class notes, lecture notes, and reference books.
Do not copy material from friends or from the web.
For violations of this rule, you will be reported to the Office of the Student Conduct at Penn, which may result in expulsion.
Please take the plagiarism rules serioiusly.
Start working on the homeworks and projects early, and if you get stuck, contact the instructor or the TA.
Maintained by Rajeev Alur