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Cyber-Physical System Fundamentals (CPSF)

Due to the current situation (COVID-19), this course will be taught purely virtually. All material will be provided via the Moodle platform (Not ready yet), so that joining this work space is mandatory.

Lecture Sessions: Every Friday from 10:15 to 11:45
Exercise Sessions:  
  • Tuesday 10:00-11:00 (English)
  • Tuesday 11:00-12:00 (English)
  • Wednesday 10:00-11:00 (English)
  • Wednesday 11:00-12:00 (English)
Associated Persons: Dr-Ing. Kuan-Hsun Chen (Lecturer)
Teaching Assistant: Dr. Ching-Chi Lin
Nils Hölscher
Start of Course: 30.04.21 (in total 11 weeks)
Finals: Digital Written Exam (Oral Exam for ISP Students)
  • Thursday, 12.08.2021, 14:00-15:45
  • Thursday, 30.09.2021, 18:30-20:15
Credits: 6 (requires successfull participation in labs and finals)

Target audience: Students of "automation and robotics" and "Data Science", ERASMUS students with limited German lan­guage skills, guest students of Ruhr campus on­line program, students of the in­ter­na­tio­nal summer school program of TU Dort­mund.

Please note: This course cannot be selected by students for which the German course "Eingebettete Systeme" is an elective, i.e. students of the "In­for­ma­tik" and "An­ge­wand­te In­for­ma­tik" programs of TU Dort­mund.

Course Introduction

The aim of this course is to provide an overview over fundamental techniques of designing embedded systems (in­for­mation processing systems embedded into products such as telecommunication systems, vehicles or robots). At the end of the course, the student will be able to put the different areas of embedded systems into perspective and to understand more specialized topics, such as timing predictability, modeling, scheduling, or performance evaluation.

© Springer


Programming skills must be present (preferably in C), finite state machines


  • Peter Marwedel, “Embedded System Design: Embedded Systems Foundations of Cyber-Physical Systems, and the Internet of Things”, Springer, Forth Edition (Open access!), 2021. ISBN: 978-3-030-60910-8
  • Peter Marwedel and Jian-Jia Chen, recorded video lectures

Location & approach

The campus of TU Dort­mund Uni­ver­sity is located close to interstate junction Dort­mund West, where the Sauerlandlinie A 45 (Frankfurt-Dort­mund) crosses the Ruhrschnellweg B 1 / A 40. The best interstate exit to take from A 45 is "Dort­mund-Eichlinghofen" (closer to Cam­pus Süd), and from B 1 / A 40 "Dort­mund-Dorstfeld" (closer to Cam­pus Nord). Signs for the uni­ver­si­ty are located at both exits. Also, there is a new exit before you pass over the B 1-bridge leading into Dort­mund.

To get from Cam­pus Nord to Cam­pus Süd by car, there is the connection via Vo­gel­pothsweg/Baroper Straße. We recommend you leave your car on one of the parking lots at Cam­pus Nord and use the H-Bahn (suspended monorail system), which conveniently connects the two campuses.

TU Dort­mund Uni­ver­sity has its own train station ("Dort­mund Uni­ver­si­tät"). From there, suburban trains (S-Bahn) leave for Dort­mund main station ("Dort­mund Hauptbahnhof") and Düsseldorf main station via the "Düsseldorf Airport Train Station" (take S-Bahn number 1, which leaves every 20 or 30 minutes). The uni­ver­si­ty is easily reached from Bochum, Essen, Mülheim an der Ruhr and Duis­burg.

You can also take the bus or subway train from Dort­mund city to the uni­ver­si­ty: From Dort­mund main station, you can take any train bound for the Station "Stadtgarten", usually lines U41, U45, U 47 and U49. At "Stadtgarten" you switch trains and get on line U42 towards "Hombruch". Look out for the Station "An der Palmweide". From the bus stop just across the road, busses bound for TU Dort­mund Uni­ver­sity leave every ten minutes (445, 447 and 462). Another option is to take the subway routes U41, U45, U47 and U49 from Dort­mund main station to the stop "Dort­mund Kampstraße". From there, take U43 or U44 to the stop "Dort­mund Wittener Straße". Switch to bus line 447 and get off at "Dort­mund Uni­ver­si­tät S".

The AirportExpress is a fast and convenient means of transport from Dort­mund Airport (DTM) to Dort­mund Central Station, taking you there in little more than 20 minutes. From Dort­mund Central Station, you can continue to the uni­ver­si­ty campus by interurban railway (S-Bahn). A larger range of in­ter­na­tio­nal flight connections is offered at Düsseldorf Airport (DUS), which is about 60 kilometres away and can be directly reached by S-Bahn from the uni­ver­si­ty station.

The H-Bahn is one of the hallmarks of TU Dort­mund Uni­ver­sity. There are two stations on Cam­pus Nord. One ("Dort­mund Uni­ver­si­tät S") is directly located at the suburban train stop, which connects the uni­ver­si­ty directly with the city of Dort­mund and the rest of the Ruhr Area. Also from this station, there are connections to the "Technologiepark" and (via Cam­pus Süd) Eichlinghofen. The other station is located at the dining hall at Cam­pus Nord and offers a direct connection to Cam­pus Süd every five minutes.

The facilities of TU Dort­mund Uni­ver­sity are spread over two campuses, the larger Cam­pus North and the smaller Cam­pus South. Additionally, some areas of the uni­ver­si­ty are located in the adjacent "Technologiepark".

Site Map of TU Dort­mund Uni­ver­sity (Second Page in English).