Definition of Systems

aggregation of things so combined to form an integral or complex whole [Encyclopedia Americana] interdependent group of items forming a unified whole [Webster] combination of components that act together to perform a function not possible with any of the individual parts [IEEE: Electronic Terms]

Systems Engineering
General systems can be : physical, human made objects as well as ``population dynamics ``economic mechanisms SE is the art of designing and optimising systems, starting from the desired or identified need (for a system) to the specifications for all the system elements

SE applied to Product Development

SE provides a structured and logical framework to develop a customised method of product development Life cycle of product Development:
Need Analysis, Product Planning and Analysis, Evolution from System Research to System Design, Production, Evaluation, Customer Support

Product Planning
Extracting the system specifications from the objectives of the project definition "design/develop/manufacture" something (=system) that will produce a product/service (=outputs) which satisfies certain needs (=requirements) the system needs information, knowledge, and intelligence, human and/or other resources (=inputs) to produce outputs the system transfers (=functionality) inputs to outputs

Product (System) Analysis

Analysis begins with partitioning the functionality into components (interfacing different functions) components must be complete and unambiguous and implementable (as software, mechanical/electronic hardware) interaction between components should be simple

Product Analysis (Cont..)

main outcome is the system specification that may also contain High level decisions:
choice of technology for each component basic (e.g. control) structure: centralised/decentralised assignment of responsibilities

examples of Mechatronic products that passed this stage: automated highways and smart cars.

Other Steps in SE
Evolution from Research to Design
Design and Research (e.g. Smart Cars)

conceptual design considering financial and other restrictions Production or implementation

Rapid-prototypes (Smart Bolts)

Evaluation and verification Customer Support

Customisation of SE
Mechatronic Systems Engineering considers the specific elements of integration or fusion of component disciplines in the systems Engineering context. Examples:
concurrency known from Manufacturing processes inherent parallelism to be exploited in implementing an embedded system with an intelligent neural network algorithm.

Mechatronic Systems
traditional Electronics+Mechanical systems (sequential design method) Mechatronic systems (concurrent design and synergistic integration) General System Theory applicable to Mechatronic Systems Goals of GST :) Modeling and Analysis, Design and Synthesis, Control, Performance Evaluation, Optimization

System Behavior
can be defined by state equations The state of a system at t0 is the information required at t0 such that
output y(t), for all t greater or equal to t0, is uniquely determined from this information and from input u(t) for t greater or equal to t0.

State Space X of a system is the set of all possible values state can take

General State Equations

State equations are the set of equations required to specify the state x(t) for all t greater or equal to t0 given x(t0) and u(t) for t greater or equal to t0
x(t) = f(x(t),u(t),t) x(t0)=x0 y(t) = g(x(t),u(t),t)

 static (independent of past values) or dynamic dynamic systems are dependent of past values and therefore differential/difference equations are often used to describe the behavior. Dynamic systems can be:
time varying (behavior does change with time) or time invariant

Behavioral Classification of Systems

Discrete Event Systems (Intro)

time-invariant systems can be linear or nonlinear. Nonlinear systems can be:
continuous (state variable can take any value) or discrete state (state variable discrete set),

discrete state systems can be time driven (state changes with the time)or event driven (state changes or transitions are forced by asynchronously generated discrete events) event driven systems can be deterministic or stochastic (at least one output is random)

DES (Intro, Cont...)

DES are discrete state and event driven processes (obviously they are nonlinear, dynamic and time-invariant processes): State space X is a discrete set, state transitions driven by the events are of the form: IF action AND the current state is S1 THEN next state become S2.
g(a1U1+ a2U2 ) NOT = a1 g( U1 ) + a2 g( U2 ) Output depends on past values of input behavior when a specific input is applied does not change with time

Examples of DES
Queueing Systems containing entities, resources, and the queue (e.g. ATM) Computer Systems with jobs/tasks competing for resources (CPU, memory, ..) Manufacturing Systems with production parts and pieces competing for machines and robots... Interactive multimedia introduction at http://vita.bu.edu/cgc/MIDEDS/

Mathematical Models for DES

untimed models: sample paths represent a sequence of states; S1->e1->S2->e2->S3 timed models: sample paths also have time instants at which state transitions take place; S1->(e1,t1)->S2->(e2,t2)->S3 language is the ``universal set of all possible orderings of events that could happen in a system (for untimed models).

Mathematical Models (Cont..)

Languages, timed-languages, stochastic timed languages represent three levels of abstractions at which DES are modeled. Automata and Petrinets are the modeling formalisms discussed in the lecture. E= Set of all possible events => alphabet of the language. Event sequences => words Can we build a system that represent a given language ? Can we develop the language represented by an existing system ? Do two systems ``speak identical languages ?

Language of a DES
language over an event set E is a set of finite-length strings (or words) formed from events in E eg. E ={start, print-status-report, done} = {s,p,d} L= {, s, sp, spd, sppd, spppd, sd} and = empty string
Concatenation(s,p) = > sp, Concatenation(sp,d) = > spd Concatenation(s, ) = Concatenation( ,s) = s

Terminology and Operations

E* is the set of all finite strings of elements of E including E* = {,s,ss,sss.,sp,spp,.} is an infinite set all languages L possible with the event set E are subsets of E* * is called the Kleene closure operator:

 Set operations (intersection,union) can be applied to languages L1,L2... over the event set E (all L1,L2 are subsets of E*) Concatenation: LaLb :={s E*: (S=sa,sb) and (sa La) and (sb Lb)} Prefix-closure of L: (L is a subset of E*) L = {s E*: for all t E* (st L)} L is usually subset or equals to L, if L = L then L is prefix-closed

Terminology and Operations (Cont...)

Automata
A language which specifies all possible sequences of events is a formal way of describing the behavior of a DES. An automata represents a language according to defined set of rules.
nodes of automata represents the states of DES labeled arcs represent transitions between the states the set of transition labels is the event set initial state and marked states need to be defined

Deterministic Automata
G = (set of states, set of Events associated with transitions in G, transition_function, active_event_set, initial_state,marked_states) Fig 2.1 :
f(x,) = x f(x,se) = f(f(x,s),e) for s E* and e f(x,gba) = y,f(x,aagb)=z, f(z,b^) = z (n greater/equals 0)

Blocking
Language generated by G: L(G)= {s E*: f(x_initial,s) defined} Language marked by G : Lm(G) = {s L(G): f(x_initial,s) Xm} (fig. 2.2) Automata G1 and G2 are equivalent if they generate and mark the same language (fig 2.3) Lm(G) subset/equals Lm(G) subset/equals L(G) blocking if G reach x : Active event set at x = 0 and x NOT Xm Automation G is blocking if deadlock or livelock happens, when Lm(G) subset (ONLY) of L(G). Nonblocking is the case if Lm(G) = of L(G).

Petri Nets (instead of automata)

PN graph is weighted bipartite graph (P,T,A,w) P is the finite set of places (one type of nodes) T is the finite set of transitions (another type of nodes) A is a set of arcs from P --> T and T -->P w: A ---> {1,2,3,...} is the weight function on the arcs Marked Petri Net is a five-tuple (P,T,A,w,x): where x is a marking of the set of places P; x=[x(p1), x(p2),...] row vector x is also considered as the state of the petri net a transition is enabled if x(pi) greater-equals w(pi,tj)