Architecture & Design of Embedded Real-Time Systems
AREM) Course Materials.

Last updated:04. marts 2014.

Course Book:

Real-Time Design Patterns
Robust Scalable Architectures for Real-Time Systems
by Bruce Powel Douglass,
Addison Wesley, 2003, 500 pages, ISBN: 0-201-69956-7

Supplementary Course Materials: selected research articles

Software Architectures and Embedded Systems: A match made in heaven?
by Nenad Medvidovic, IEEE Software sept/oct. 2005, pages 83-86.

The Discipline of Embedded Systems Design,
by Thomas A. Henxinger & Joseph Sifakis, IEEE Computer, oct. 2007, pages 32-40.

Towards a Taxonomy of Software Connectors,
by Nikunj R. Mehta, Nenad Medvidovic & Sandeep Phadke, Proceedings 22' SE Conference ICSE00, 2000, pages 178-187.

A Component Model for On-board Software Applications,
by Marco Panunzio & Tullio Vardanega, Proceedings 36th EUROMICRO Conference, 2010, pages 57-64.

The Koala Component Model for Consumer Electronics Software,
by Rob Van Ommering, Frank van der Linden, Jeff Kramer & Jeff Magee, IEEE Computer, March 2000, pages 78-85.

Evolving Software Architecture Descriptions of Critical Systems,
by Tom Mens, Jeff Magee & Hernhard Rumpe,IEEE Computer, May 2010, pages 42-48.

Using UML-based Rate Montonic Analysis to Predict Schedulability,
by Hossein Saiedian & Srikrishnan Raguraman, IEEE Computer, October 2004, pages 56-63.

The Architecture Tradeoff Analysis Method,
by Rick Kazman et. al., IEEE Proceeding of ICECCS98, 1998.

Time and Space Partitioning in Spacecraft Avionic,
James Windsor, Kjeld Hjornaes, European Space Agency. Proceedings for Third IEEE International Conference on Space Misison Challenges for Information Technology", 2009 page 13-20.

The "4+1" View Model of Software Architecture (.pdf file)
Architectural Blueprints - The "4+1" View Model of Software Architecture,
by Philippe Krutchen. IEEE Software, 12(6) N
ov. 1995.
The famous paper describing the "4+1" View Model.

Two Part Architectural Model-Paper (.pdf file)
Designing Event-Controlled Continuous Processing Systems
by Hans Peter Jepsen and Finn Overgaard Hansen
, Proceedings Embedded Systems Conference, San Francisco April 2001.
Paper describing a Two Part Architectural Model. Presented at the Embedded System Conference, San Fran
cisco in april 2001.

Executable Object Modeling with Statecharts (.pdf file)
by David Harel and Eran Gery, IEEE Computer july 1997.
Presentation and discussion of statecharts for an automatic rail-car system.

ArchitectingSystemsWithUML2-0 (.pdf file)
Architecting Systems with UML 2.0.
by Morgan Björkander and Cris Kobryn, Telelogic
, IEEE Software, july/august 2003, pages 57-61.
Describes the new UML 2.0 SW Architecture features - with focus on classes with ports and
provided and required interfaces.

AnApplicationLevelImplementationOfTheSporadicServer (.pdf file)
An Application Level Implementation of the Sporadic Server,
by Michael González Harbour and Lui Sha, Software Engineering Institute, CMU/SEI-91-TR-26 report, 1991.
Implementation in ADA and a proposal for a library implementation based on POSIX.

Scheduling Sporadic Events (.pdf file)
Scheduling Sporadic Events
by Lonnie Vanzandt, Embedded System Design, 26.11.2002.
A short introduction to sporadic servers.

Supplementary readings:

Digital Sound Recorder: A case study on designing an embedded system using
the UML notation (PDF file, 37 pages) - an example on the use of Real Time UML.

The Dependency Inversion Principle (.pdf file)
by Robert C. Martin
Presents an important design principle to invert the dependency between packages.

The Liskov Substitution Principle (.pdf file)
by Robert C. Martin
The famous and very important Liskov Substitution Principle (LSP),
described and explained in this article by Robert C. Martin.
The LSP principle was described by Barbara Liskov in 1988.

The Open-Closed Principle (.pdf file)
by Robert C. Martin.
Bertrand Myers famous Open-closed principle from 1988,
described and explained in this article by Robert C. Martin.

Smart Pointers - What, Why, Which (.pdf file)
by Yonat Sharon (http:://
An introduction to smart pointers in C++.

Compounding Command (.pdf file)
by John Vlissides and Richard Helm (two of the Gang Of Four). A very readable article,
describing an example with different OO and Design Pattern solutions to a problem.

ConcurrencyNote: Design Techniques for Active Objects (.pdf file)
by Finn Overgaard Hansen.
Three chapters of an unpublished COT report on concurrency.