02917 Advanced Topics in Embedded Systems. Michael R. Ha. Brief Introduction to Duration Calculus. Michael R. Hansen
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1 Brief Introduction to Duration Calculus nsen 1 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
2 Plan for today: A motivating example wireless sensor networks Brief introduction to Duration Calculus Overview of fundamental (un)decidability results A basic decidability results with non-elementary complexity Towards efficient model checking for Duration Calculus based on approximations A decision procedure for Presburger Arithmetic At 1 pm: IMM summer party. 2 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
3 Plan for today: A motivating example wireless sensor networks Brief introduction to Duration Calculus Overview of fundamental (un)decidability results A basic decidability results with non-elementary complexity Towards efficient model checking for Duration Calculus based on approximations A decision procedure for Presburger Arithmetic At 1 pm: IMM summer party. 3 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
4 Plan for today: A motivating example wireless sensor networks Brief introduction to Duration Calculus Overview of fundamental (un)decidability results A basic decidability results with non-elementary complexity Towards efficient model checking for Duration Calculus based on approximations A decision procedure for Presburger Arithmetic At 1 pm: IMM summer party. 4 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
5 Plan for today: A motivating example wireless sensor networks Brief introduction to Duration Calculus Overview of fundamental (un)decidability results A basic decidability results with non-elementary complexity Towards efficient model checking for Duration Calculus based on approximations A decision procedure for Presburger Arithmetic At 1 pm: IMM summer party. 5 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
6 Plan for today: A motivating example wireless sensor networks Brief introduction to Duration Calculus Overview of fundamental (un)decidability results A basic decidability results with non-elementary complexity Towards efficient model checking for Duration Calculus based on approximations A decision procedure for Presburger Arithmetic At 1 pm: IMM summer party. 6 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
7 Plan for today: A motivating example wireless sensor networks Brief introduction to Duration Calculus Overview of fundamental (un)decidability results A basic decidability results with non-elementary complexity Towards efficient model checking for Duration Calculus based on approximations A decision procedure for Presburger Arithmetic At 1 pm: IMM summer party. 7 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
8 Plan for today: A motivating example wireless sensor networks Brief introduction to Duration Calculus Overview of fundamental (un)decidability results A basic decidability results with non-elementary complexity Towards efficient model checking for Duration Calculus based on approximations A decision procedure for Presburger Arithmetic At 1 pm: IMM summer party. 8 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
9 Nodes with solar panels A node of a wireless sensor network has a solar panel: 9 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
10 Energy consumption depends on usage A node has a platform consisting of several components: 10 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
11 WSN-Model using parallel automata A wireless sensor network can be modelled by parallel automata: WSN = n i=1(node i Environment i ) Node i Environment i Application i Platform i. = SolarPanel i Application i = Sun i = m i j=1 Program j Platform i = Processor i Sensor i Memory i Radio i 11 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
12 WSN-Requirements expressed in Duration Calculus Requirements can be modelled by Duration Calculus There should be sufficient energy during the lifetime: p ( l K E 0 +Σ i c i suni Σ j k j programj > 0 ) }{{}}{{} stored energy consumed energy Succinct formulation Tool support 12 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
13 WSN-Requirements expressed in Duration Calculus Requirements can be modelled by Duration Calculus There should be sufficient energy during the lifetime: p ( l K E 0 +Σ i c i suni Σ j k j programj > 0 ) }{{}}{{} stored energy consumed energy Succinct formulation Tool support 13 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
14 WSN-Requirements expressed in Duration Calculus Requirements can be modelled by Duration Calculus There should be sufficient energy during the lifetime: p ( l K E 0 +Σ i c i suni Σ j k j programj > 0 ) }{{}}{{} stored energy consumed energy Succinct formulation Tool support 14 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
15 WSN-Requirements expressed in Duration Calculus Requirements can be modelled by Duration Calculus There should be sufficient energy during the lifetime: p ( l K E 0 +Σ i c i suni Σ j k j programj > 0 ) }{{}}{{} stored energy consumed energy Succinct formulation Tool support 15 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
16 Background Provable Correct (ProCoS, ESPRIT BRA 3104) Bjørner Langmaack Hoare Olderog Project case study: Gas Burner Sørensen Ravn Rischel Intervals properties Timed Automata, Real-time Logic, Metric Temporal Logic, Explicit Clock Temporal,..., Alur, Dill, Jahanian, Mok, Koymans, Harel, Lichtenstein, Pnueli,... Duration of states Duration Calculus Zhou Hoare Ravn 91 an Interval Temporal Logic Halpern Moszkowski Manna Logical Calculi, Applications, Mechanical Support Duration Calculus: A formal approach to real-time systems Zhou Chaochen and nsen Springer 2004 Current focus: Tool support with applications 16 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
17 Background Provable Correct (ProCoS, ESPRIT BRA 3104) Bjørner Langmaack Hoare Olderog Project case study: Gas Burner Sørensen Ravn Rischel Intervals properties Timed Automata, Real-time Logic, Metric Temporal Logic, Explicit Clock Temporal,..., Alur, Dill, Jahanian, Mok, Koymans, Harel, Lichtenstein, Pnueli,... Duration of states Duration Calculus Zhou Hoare Ravn 91 an Interval Temporal Logic Halpern Moszkowski Manna Logical Calculi, Applications, Mechanical Support Duration Calculus: A formal approach to real-time systems Zhou Chaochen and nsen Springer 2004 Current focus: Tool support with applications 17 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
18 Background Provable Correct (ProCoS, ESPRIT BRA 3104) Bjørner Langmaack Hoare Olderog Project case study: Gas Burner Sørensen Ravn Rischel Intervals properties Timed Automata, Real-time Logic, Metric Temporal Logic, Explicit Clock Temporal,..., Alur, Dill, Jahanian, Mok, Koymans, Harel, Lichtenstein, Pnueli,... Duration of states Duration Calculus Zhou Hoare Ravn 91 an Interval Temporal Logic Halpern Moszkowski Manna Logical Calculi, Applications, Mechanical Support Duration Calculus: A formal approach to real-time systems Zhou Chaochen and nsen Springer 2004 Current focus: Tool support with applications 18 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
19 Background Provable Correct (ProCoS, ESPRIT BRA 3104) Bjørner Langmaack Hoare Olderog Project case study: Gas Burner Sørensen Ravn Rischel Intervals properties Timed Automata, Real-time Logic, Metric Temporal Logic, Explicit Clock Temporal,..., Alur, Dill, Jahanian, Mok, Koymans, Harel, Lichtenstein, Pnueli,... Duration of states Duration Calculus Zhou Hoare Ravn 91 an Interval Temporal Logic Halpern Moszkowski Manna Logical Calculi, Applications, Mechanical Support Duration Calculus: A formal approach to real-time systems Zhou Chaochen and nsen Springer 2004 Current focus: Tool support with applications 19 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
20 Background Provable Correct (ProCoS, ESPRIT BRA 3104) Bjørner Langmaack Hoare Olderog Project case study: Gas Burner Sørensen Ravn Rischel Intervals properties Timed Automata, Real-time Logic, Metric Temporal Logic, Explicit Clock Temporal,..., Alur, Dill, Jahanian, Mok, Koymans, Harel, Lichtenstein, Pnueli,... Duration of states Duration Calculus Zhou Hoare Ravn 91 an Interval Temporal Logic Halpern Moszkowski Manna Logical Calculi, Applications, Mechanical Support Duration Calculus: A formal approach to real-time systems Zhou Chaochen and nsen Springer 2004 Current focus: Tool support with applications 20 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
21 Background Provable Correct (ProCoS, ESPRIT BRA 3104) Bjørner Langmaack Hoare Olderog Project case study: Gas Burner Sørensen Ravn Rischel Intervals properties Timed Automata, Real-time Logic, Metric Temporal Logic, Explicit Clock Temporal,..., Alur, Dill, Jahanian, Mok, Koymans, Harel, Lichtenstein, Pnueli,... Duration of states Duration Calculus Zhou Hoare Ravn 91 an Interval Temporal Logic Halpern Moszkowski Manna Logical Calculi, Applications, Mechanical Support Duration Calculus: A formal approach to real-time systems Zhou Chaochen and nsen Springer 2004 Current focus: Tool support with applications 21 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
22 A ProCoS Case Study: Gas Burner System State variables modelling Gas and Flame: G, F : Time {0, 1} State expression modelling that gas is Leaking L ˆ= G F Requirement Gas must at most be leaking 1/20 of the elapsed time (e b) 60 s 20 e L(t)dt (e b) b 22 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
23 A ProCoS Case Study: Gas Burner System State variables modelling Gas and Flame: G, F : Time {0, 1} State expression modelling that gas is Leaking L ˆ= G F Requirement Gas must at most be leaking 1/20 of the elapsed time (e b) 60 s 20 e L(t)dt (e b) b 23 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
24 A ProCoS Case Study: Gas Burner System State variables modelling Gas and Flame: G, F : Time {0, 1} State expression modelling that gas is Leaking L ˆ= G F Requirement Gas must at most be leaking 1/20 of the elapsed time (e b) 60 s 20 e L(t)dt (e b) b 24 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
25 Gas Burner example: Design decisions Leaks are detectable and stoppable within 1s: c, d : b c < d e.(l[c, d] (d c) 1 s) where P[c, d] ˆ= d P(t) = (d c) > 0 c which reads P holds throughout[c, d] At least 30s between leaks: c, d, r, s : b c < r < s < d e. (L[c, r] L[r, s] L[s, d]) (s r) 30 s Proof obligation: Conjunction of design decisions implies the requirements. 25 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
26 Gas Burner example: Design decisions Leaks are detectable and stoppable within 1s: c, d : b c < d e.(l[c, d] (d c) 1 s) where P[c, d] ˆ= d P(t) = (d c) > 0 c which reads P holds throughout[c, d] At least 30s between leaks: c, d, r, s : b c < r < s < d e. (L[c, r] L[r, s] L[s, d]) (s r) 30 s Proof obligation: Conjunction of design decisions implies the requirements. 26 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
27 Gas Burner example: Design decisions Leaks are detectable and stoppable within 1s: c, d : b c < d e.(l[c, d] (d c) 1 s) where P[c, d] ˆ= d P(t) = (d c) > 0 c which reads P holds throughout[c, d] At least 30s between leaks: c, d, r, s : b c < r < s < d e. (L[c, r] L[r, s] L[s, d]) (s r) 30 s Proof obligation: Conjunction of design decisions implies the requirements. 27 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
28 Interval Logic - Halpern Moszkowski Manna 83 Terms: θ ::= x v θ 1 +θ n... Temporal Variable v : Intv R Formulas: φ ::= θ 1 = θ n φ φ ψ φ ψ ( x)φ... chop φ : Intv {tt,ff} Chop: { φ ψ }} { b m e } {{ } φ } {{ } ψ for some m : b m e In DC: Intv = { [a, b] a, b R a b} 28 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
29 Interval Logic - Halpern Moszkowski Manna 83 Terms: θ ::= x v θ 1 +θ n... Temporal Variable v : Intv R Formulas: φ ::= θ 1 = θ n φ φ ψ φ ψ ( x)φ... chop φ : Intv {tt,ff} Chop: { φ ψ }} { b m e } {{ } φ } {{ } ψ for some m : b m e In DC: Intv = { [a, b] a, b R a b} 29 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
30 Interval Logic - Halpern Moszkowski Manna 83 Terms: θ ::= x v θ 1 +θ n... Temporal Variable v : Intv R Formulas: φ ::= θ 1 = θ n φ φ ψ φ ψ ( x)φ... chop φ : Intv {tt,ff} Chop: { φ ψ }} { b m e } {{ } φ } {{ } ψ for some m : b m e In DC: Intv = { [a, b] a, b R a b} 30 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
31 Duration Calculus - Zhou Hoare Ravn 91 Extends Interval Temporal Logic as follows: State variables P : Time {0, 1} Finite Variability State expressions S ::= 0 1 P S S 1 S 2 S : Time {0, 1} pointwise defined Durations S : Intv R defined on [b, e] by e b S(t)dt Temporal variables with a structure 31 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
32 Duration Calculus - Zhou Hoare Ravn 91 Extends Interval Temporal Logic as follows: State variables P : Time {0, 1} Finite Variability State expressions S ::= 0 1 P S S 1 S 2 S : Time {0, 1} pointwise defined Durations S : Intv R defined on [b, e] by e b S(t)dt Temporal variables with a structure 32 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
33 Duration Calculus - Zhou Hoare Ravn 91 Extends Interval Temporal Logic as follows: State variables P : Time {0, 1} Finite Variability State expressions S ::= 0 1 P S S 1 S 2 S : Time {0, 1} pointwise defined Durations S : Intv R defined on [b, e] by e b S(t)dt Temporal variables with a structure 33 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
34 Example: Gas Burner Requirement Design decisions l L l D 1 ˆ= ( L l 1) D 2 ˆ= (( L L L ) l 30) where l denotes the length of the interval, and φ ˆ= true φ true for some sub-interval: φ φ ˆ= φ for all sub-intervals: φ P ˆ= P = l l > 0 P holds throughout a non-point interval succinct formulation no interval endpoints 34 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
35 Example: Gas Burner Requirement Design decisions l L l D 1 ˆ= ( L l 1) D 2 ˆ= (( L L L ) l 30) where l denotes the length of the interval, and φ ˆ= true φ true for some sub-interval: φ φ ˆ= φ for all sub-intervals: φ P ˆ= P = l l > 0 P holds throughout a non-point interval succinct formulation no interval endpoints 35 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
36 Example: Gas Burner Requirement Design decisions l L l D 1 ˆ= ( L l 1) D 2 ˆ= (( L L L ) l 30) where l denotes the length of the interval, and φ ˆ= true φ true for some sub-interval: φ φ ˆ= φ for all sub-intervals: φ P ˆ= P = l l > 0 P holds throughout a non-point interval succinct formulation no interval endpoints 36 DTU Informatics, Technical University of Denmark Brief Introduction to Duration Calculus MRH 17/06/2010
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