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Book: Section Numbers Refer to the 2nd Edition

Slides:

  • ppt/pptm: This is the type of the master slides. This is the recommended file format. Users without a PowerPoint license should use the free PowerPoint viewer from Microsoft, if they are running Windows. Slides have been generated with PowerPoint 2010 (pptm) or XP (ppt).
  • pdf: These files have been generated with Adobe Distiller, the pdf-export function of Powerpoint 2010 or pdf-annotator. No animation is available.

Teaching Style

We recommend trying out flipped classroom teaching:

  • ask the students to study the videos for the next meeting at home,
  • during the meeting, remind the students very briefly about the topic of the meeting
  • distribute worksheets, let the students work in groups on the worksheets, discuss the results (about 3 worksheets per 90 min. meeting)
  • provide brief preview of the topic of the next meeting.
Content Book Section Videos Slides Simulators Lectures
Preface: Embedded and Cyber-Physical Systems (definitions), motivation Preface 01.1 es-marw-1.1.pptm
es-marw-1.1.pdf
  1
Introduction: application areas, examples, educational concept 1.1, preface 01.2     1
Introduction: Common characteristics 1.2 01.3 es-marw-1.2.pptm
es-marw-1.2.pdf 
  1
Introduction: Challenges in embedded system de­sign 1.3 02.1     2
Introduction: de­sign flows 1.4 02.2     2
Specifications and Modeling: Requirements, models of computation 2.1-2.2 02.3 es-marw-2.01-moc.ppt
es-marw-2.01-moc.pdf
  3
Specifications and Modeling: The oberver pattern, a case against imperative specifications (based on E. Lee) 2.1 03.1


es-marw-2.02-sc.ppt
es-marw-2.02-sc.pdf
  3
Specifications and Modeling: Early de­sign phases: text, use cases, time-distance charts, sequence charts 2.3 03.2   Time-Distance Charts - Animation 3
Specifications and Modeling: Communicating finite state machines (CFSMs): Timed automata 2.4.1 03.3     3
Specifications and Modeling: State charts: implicit shared memory com­mu­ni­cation, modelling of hierarchy 2.4.2.1 04.1

es-marw-2.03-fsm.ppt
es-marw-2.03-fsm.pdf
  4
Specifications and Modeling: State charts timers and semantics, synchronous languages 2.4.2.2, 2.4.2.3, 2.4.3 04.2     4
Specifications and Modeling: SDL: A case of message passing 2.4.4 05.1 es-marw-2.04-sdl-df.ppt
es-marw-2.04-sdl-df.pdf
  5
Specifications and Modeling: dataflow: scope, Kahn process networks (KPN) 2.5.1-2.5.2 05.2   Animation 5
Specifications and Modeling: dataflow: synchronous (or "static") data flow, SDF, Simulink, RTW, Labview 2.5.3 05.3     5
Specifications and Modeling: Petri nets: Introduction 2.6.1 06.1 es-marw-2.05-petri.ppt
es-marw-2.05-petri.pdf 
  6
Specifications and Modeling: Petri nets: condition/event nets  2.6.2  06.2     6
Specifications and Modeling: Petri nets: place transition nets 2.6.3 06.3     6
Specifications and Modeling: Petri nets: predicate/transition nets, evaluation 2.6.4, 2.6.5 06.4     6
Specifications and Modeling: Discrete Event Modelling, VHDL 2.7.1.1-2.7.1.4 07.1 es-marw-2.06-discrete-event.ppt
es-marw-2.06-discrete-event.pdf 
  7
Specifications and Modeling: Discrete Event Modelling, IEEE 1164 2.7.1.5 07.2     7
Specifications and Modeling: Imperative (or von Neumann) model of computation, Comparison of models 2.8 08.1 es-marw-2.07-imperative-wrap.ppt
es-marw-2.07-imperative-wrap.pdf
  8
Specifications and Modeling: comparison of models of computation 2.10 08.2     8
ES-Hard­ware: Sensors 3.2.1 09.1 es-marw-3.1-sensors-ad.ppt
es-marw-3.1-sensors-ad.pdf
  9
ES-Hard­ware: discretization of time: sample-and-hold circuits 3.2.2 09.2     9
ES-Hard­ware: discretization of values: A/D-converters 3.2.2 09.3     9
ES-Hard­ware: discretization: quantization noise, aliasing    09.4   Java program available  9
ES-Hard­ware: Processing, code-size efficiency 3.3.1, 3.3.2, 3.3.3 10.1 es-marw-3.2-processing.ppt
es-marw-3.2-processing.pdf
  10
ES-Hard­ware: Run-time efficiency, DSP,  Multimedia processors, SIMD 3.3.3.0-3.3.3.2 10.2     10
ES-Hard­ware: very long instruction word (VLIW) machines, microcontrollers, Multiprocessor systems on a chip (MPSoCs), 3.3.3.3, 3.3.3.4, 3.3.3.5 11.1     11
ES-Hard­ware: Reconfigurable logic, Field programmable gate arrays (FPGAs) 3.3.4 11.2 es-marw-3.3-fpga-mem.ppt
es-marw-3.3-fpga-mem.pdf
  11
ES-Hard­ware: Memories 3.4 11.3     11
ES-Hard­ware: Communication 3.5 12.1 es-marw-3.4-comm-da-actuator.ppt
es-marw-3.4-comm-da-actuator.pdf
Animation 12
ES-Hard­ware: Output: D/A-Converter  3.6.1 12.2     12
ES-Hard­ware: Sampling theorem, actuators, secure hardware 3.6.2, 3.6.3, 3.7 12.3     12
System Software: Embedded operating systems, real-time operating systems 4.1.1, 4.1.2 13.1 es-marw-4.1-rtos.ppt
es-marw-4.1-rtos.pdf
  13
System Software: Virtual machines - - -    
System Software: Resource access protocols (Priority inversion and inheritance) 4.1.4 13.2 es-marw-4.1-rtos.ppt
es-marw-4.1-rtos.pdf
Animation 13
System Software: Resource access protocols (Priority ceiling, stack resource policy) - - es-marw-4.2-rtos.ppt
es-marw-4.2-rtos.pdf
  14
System Software: ERIKA, hardware abstraction layers, middleware, real-time data bases 4.2, 4.3, 4.4, 4.5 14.1     14
Evaluation and Validation: Scope, multi-objective optimization, relevant objectives 5.1 14.2   es-marw-5.1-evaluation.ppt
es-marw-5.1-evaluation.pdf
  14
Evaluation and Validation: performance evaluation (early estimation & worst case execution time analysis), prerequisite: integer linear programming 5.2.1, 5.2.2   es-marw-5.1-evaluation.ppt
es-marw-5.1-evaluation.pdf 
es-marw-9.1-optimizations.ppt
es-marw-9.1-optimizations.pdf
  15
Evaluation and Validation: real-time calculus 5.2.3 15.1 es-marw-5.2-evaluation.ppt
es-marw-5.2-evaluation.pdf
  15
Evaluation and Evaluation: Energy and power models, thermal models 5.3, 5.4 15.2     16
Evaluation and Evaluation: Risk- and dependability analysis 5.5 16.1 es-marw-5.3-evaluation.ppt
es-marw-5.3-evaluation.pdf
  17
Validation and Evaluation: Simulation, rapid prototyping and emulation, formal verification (briefly) 5.6, 5.7, 5.8 16.2     17
Application mapping: problem definition, classification of scheduling systems  6.1, 6.2.1 17.1 es-marw-6.1-aperiodic.ppt
es-marw-6.1-aperiodic.pdf
  18
Application mapping: Aperiodic scheduling without precedence constraints 6.2.2 17.2    Animation 18
Application mapping: Aperiodic scheduling with precedence constraints 6.2.3   es-marw-6.2-hls-scheduling.ppt
es-marw-6.2-hls-scheduling.pdf
  19
Application mapping: Periodic scheduling without precendence constraints 6.2.4 18.1 es-marw-6.3-periodic.ppt
es-marw-6.3-periodic.pdf 
Animation 19
Application mapping: Periodic scheduling with precendence constraints, sporadic events 6.2.5, 6.2.6       20
Application mapping: Hard­ware/Software Partitioning 6.3 18.2 es-marw-6.4-cool.ppt
es-marw-6.4-cool.pdf
  20
Application mapping: Mapping of Applications to Multi-Processor Systems 6.4   es-marw-6.5-mp-mapping.ppt
es-marw-6.5-mp-mapping.pdf
  21
Optimizations: task concurrency management, floating-point, high-level loop transformations 7.1, 7.2,    es-marw-7.1-optimizations.ppt
es-marw-7.1-optimizations.pdf 
  22
Optimizations:
SPM, allocation strategies
7.3   es-marw-7.2-optimizations.ppt
es-marw-7.2-optimizations.pdf
  23
Optimizations:
optimizations for caches, offset assignment problem
    es-marw-7.3-optimizations.ppt
es-marw-7.3-optimizations.pdf
  24
Optimizations:
additional compiler optimizations, dynamic voltage scaling
7.4   es-marw-7.4-optimizations.ppt
es-marw-7.4-optimizations.pdf
  25
Test 8   es-marw-8-test.ppt
es-marw-8-test.pdf​​​​​​​
  26

 

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).