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self-* properties in autonomic systems (e.g. self-management, self-healing) architectures, models, and languages for building autonomic systems trust, negotiation, and risk management in autonomic systems theoretical foundations of autonomic systems applications and novel computing paradigms of autonomic systems

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Organic Computing — A Paradigm Shift for Complex Systems

Christian Müller-Schloer Hartmut Schmeck Theo Ungerer Editors

Editors Christian Müller-Schloer Institute for Systems Engineering Leibniz Universität Hannover Appelstr. 4 30167 Hannover Germany [email protected]

Theo Ungerer Department of Computer Science University of Augsburg Universitätsstr. 6a 86159 Augsburg Germany [email protected]

Hartmut Schmeck Institute AIFB Karlsruhe Institute of Technology Kaiserstr. 89 76133 Karlsruhe Germany [email protected]

1998 ACM Computing Classification: C [Computer Systems Organization]; C.0 [General]: System architectures; C.2.4 [Distributed Systems]; C.3 [Special-purpose and Application-based systems]: Real-time and embedded systems; C.4 [Performance of Systems]; D.2 [Software Engineering]; L.2.9 [Robotics]; J.2 [Physical Sciences and Engineering]

ISBN 978-3-0348-0129-4 DOI 10.1007/978-3-0348-0130-0

e-ISBN 978-3-0348-0130-0

© Springer Basel AG 2011 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. For any kind of use permission of the copyright owner must be obtained. Cover design: deblik, Berlin Printed on acid-free paper Springer Basel AG is part of Springer Science+Business Media www.birkhauser-science.com

Preface

It is not the question whether self-organising systems will arise, but how they will be designed and controlled.

One of the most fascinating endeavours in research consists of starting a new area of research, based on a visionary concept posing a range of challenges which can only be met by a collaborative effort. The priority research programme (“Schwerpunktprogramm”) SPP 1183 “Organic Computing” of the German Research Foundation (DFG) has been such an inspiring opportunity. This compendium provides an overview of the various results which have been achieved over a period of six years. About eight years ago a presentation of a colleague on future trends for research in Artificial Intelligence at a “Perspectives Seminar” at Dagstuhl inspired us to initiate a series of workshops on challenges for future research in Computer Engineering, looking at a time frame of ten to fifteen years. The combination of a large collection of ideas led to a joint position paper of the Gesellschaft für Informatik (GI) and the Informationstechnische Gesellschaft (ITG) on a new research area which we called Organic Computing. Motivated by the increasing number of intelligent devices in our vicinity being aware of their environment, capable to interact, and relying on cooperation to satisfy their functional objectives we identified the urgent necessity of a new paradigm for system design. Such a paradigm should enable future systems to carry out certain tasks on their own, they should have properties like self-organisation, self-healing, self-configuration, self-protection, self-optimisation, and they should be able to adapt reasonably to changing requirements of their operating environment. In particular, they should adjust to human needs in a trustworthy way and should allow for explicit interference in case of undesired effects of self-organisation, leading to the—somewhat contradictory—requirement of controlled self-organisation. Considering the numerous examples of self-organisation in nature, it was obvious to look at the mechanisms behind the various ways of generating complex but robust behaviour from simple interactions in order to exploit bio-inspired concepts for the design of a new generation of technical application systems. In this way the notion of Organic Computing is associated with two different meanings: the need for intelligent systems showing “organic” behaviour and the potential use of bio-inspired concepts in their construction. v

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Preface

Fig. 1 Topical structure of the priority programme SPP 1183 “Organic Computing”

The concepts of Organic Computing are closely related to other research initiatives like ubiquitous and pervasive computing addressing the abundance of intelligent devices and the penetration of almost every aspect of our lives with information technology. The necessity of providing complex information processing and data management systems with self-* properties has also been the driving force of the Autonomic Computing Initiative by IBM using the biological principle of the autonomic (nervous) system as their paradigm for system design. Furthermore, independent from our initiative, Christoph von der Malsburg had used the notion of Organic Computing for his visionary concept of designing information processing systems inspired by principles of molecular biology and neuro-physiology. Based on the ideas of the position paper our proposal to start a priority programme on Organic Computing was approved by the German Research Foundation in early 2004. The call for proposals for the first of the three two-year phases addressed the need for fundamental research on the effects of emergence due to self-organisation and on the design of system architectures and tools supporting the concepts of Organic Computing while keeping in mind the specific requirements of technical applications (see Fig. 1). In July 2005, the SPP 1183 “Organic Computing” started with 18 projects which had been selected by an international evaluation committee from 59 high quality submissions. Semi-annual colloquia and various mini workshops supported a regular exchange of information between the projects and served to initiate and support cooperative work on various topics of joint interest like self-organisation and emergence, architectures, applications, design methods, and bio-inspired methods. In this way, a common understanding of essential concepts for the design of Organic Computing systems developed, which was deepened during the successive phases 2 and 3 of this programme. The programme’s third and final phase emphasised the need for a clear demonstration of the achievements of this fascinating research motivated by a visionary concept for future system architectures.

Preface

vii

This compendium now combines presentations of major results from all of the projects that are or had been part of the priority programme. The contributions start with an overview of our work on Theoretical Foundations characterising essential properties of Organic Computing systems, looking in-depth at different aspects of emergence as a result of self-organisation, studying formal approaches to specify correct behaviour of adaptive systems, and highlighting ways of transferring behavioural patterns of biological systems (in particular of societies of ants) into Organic Computing systems. This is complemented with an assessment of the Organic Computing research methodology from a philosophical point of view. One of the central objectives of the priority programme was to establish a toolbox of concepts and methods which are essential for the design and operation of Organic Computing systems. The chapters on Methods and Tools, Learning, and Architectures present an overview of the broad range of fundamental concepts that evolved within the research programme. Learning, in particular, is an indispensible part of Organic Computing, addressing the challenge to develop adequate behaviour even in unanticipated situations. As stated in the call for proposals, the potential and relevance of the new techniques and system architectures of Organic Computing should be demonstrated with respect to demanding application scenarios. Therefore, the chapter on Applications reports on the work on Organic Computing in areas like traffic, robotics, sensor networks, image processing, and parallel computing. The compendium is concluded with an Outlook on research that originated from or was inspired by this priority programme. Finally, we address a number of insights and lessons learnt combined with potential future research questions—following the more general observation that “good research answers some questions while—and this is more important—posing new ones.”

Acknowledgement The initiators and participants of the SPP 1183 “Organic Computing” would like to express their deepest gratitude to the German Research Foundation and to all those who contributed to the formation of this priority programme and who were responsible for providing us with the necessary financial support. In particular, we would like to thank the members of the international evaluation committee for their careful assessment and selection of the proposals. We are grateful to the DFG staff (in particular Dr. Gerit Sonntag and Dr. Valentina Damerow) for their valuable advice and continuing support. The funding instrument of priority programmes has proven to be highly effective in establishing and supporting new research communities. This Compendium would not have been possible without the help of many more supporters. They have contributed to the organisational side of the preparation process, and they have done so in addition to the project work necessary for their research. This translates into many extra hours! Especially we would like to thank the Editorial Office with Sven Tomforde, Holger Prothmann and Lei Liu for their great work. The chapter editors Bernhard Sick, Hans-Ulrich Heiß and Wolfgang Reif have supported us in soliciting, inspecting and summarising single chapters of this book.

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Preface

For quality control each article was reviewed by two members of the Review Team. We thank all of them for spending the necessary hours during the Christmas break 2010! We thank Barbara Hellriegel from Birkhäuser Verlag for her support and the smooth interface to the production. And last but not least we want to thank the authors for delivering high quality research and professional articles—and for keeping the tight deadlines. Hannover, Germany Karlsruhe, Germany Augsburg, Germany

Christian Müller-Schloer Hartmut Schmeck Theo Ungerer

Contents

Chapter 1

Theoretical Foundations

1.1 Adaptivity and Self-organisation in Organic Computing Systems . . Hartmut Schmeck, Christian Müller-Schloer, Emre Çakar, Moez Mnif, and Urban Richter

5

1.2 Quantitative Emergence . . . . . . . . . . . . . . . . . . . . . . . . . Moez Mnif and Christian Müller-Schloer

39

1.3 Divergence Measures as a Generalised Approach to Quantitative Emergence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dominik Fisch, Martin Jänicke, Christian Müller-Schloer, and Bernhard Sick 1.4 Emergent Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . Peter Kreyssig and Peter Dittrich 1.5 Constraining Self-organisation Through Corridors of Correct Behaviour: The Restore Invariant Approach . . . . . . . . . . . . . . Florian Nafz, Hella Seebach, Jan-Philipp Steghöfer, Gerrit Anders, and Wolfgang Reif 1.6 Ant Inspired Methods for Organic Computing . . . . . . . . . . . . Alexander Scheidler, Arne Brutschy, Konrad Diwold, Daniel Merkle, and Martin Middendorf

53

67

79

95

1.7 Organic Computing: Metaphor or Model? . . . . . . . . . . . . . . . 111 Mathias Gutmann, Benjamin Rathgeber, and Tareq Syed Chapter 2

Methods and Tools

2.1 Model-Driven Development of Self-organising Control Applications Helge Parzyjegla, Arnd Schröter, Enrico Seib, Sebastian Holzapfel, Matthäus Wander, Jan Richling, Arno Wacker, Hans-Ulrich Heiß, Gero Mühl, and Torben Weis

131

ix

x

Contents

2.2 How to Design and Implement Self-organising Resource-Flow Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 Hella Seebach, Florian Nafz, Jan-Philipp Steghöfer, and Wolfgang Reif 2.3 Monitoring and Self-awareness for Heterogeneous, Adaptive Computing Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 David Kramer, Rainer Buchty, and Wolfgang Karl 2.4 Generic Emergent Computing in Chip Architectures . . . . . . . . . 179 Marc Reichenbach, Ralf Seidler, Dietmar Fey, and Benjamin Pfundt 2.5 Multi-objective Intrinsic Evolution of Embedded Systems . . . . . . 193 Paul Kaufmann and Marco Platzner 2.6 Organisation-Oriented Chemical Programming . . . . . . . . . . . . 207 Naoki Matsumaru, Peter Kreyssig, and Peter Dittrich 2.7 Hovering Data Clouds for Organic Computing . . . . . . . . . . . . 221 Sebastian Ebers, Sándor P. Fekete, Stefan Fischer, Horst Hellbrück, Björn Hendriks, and Axel Wegener Chapter 3

Learning

3.1 Aspects of Learning in OC Systems . . . . . . . . . . . . . . . . . . . 237 Emre Cakar, Nugroho Fredivianus, Jörg Hähner, Jürgen Branke, Christian Müller-Schloer, and Hartmut Schmeck 3.2 Combining Software and Hardware LCS for Lightweight On-chip Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 Andreas Bernauer, Johannes Zeppenfeld, Oliver Bringmann, Andreas Herkersdorf, and Wolfgang Rosenstiel 3.3 Collaborative Learning by Knowledge Exchange . . . . . . . . . . . 267 Dominik Fisch, Edgar Kalkowski, and Bernhard Sick 3.4 A Framework for Controlled Self-optimisation in Modular System Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 Werner Brockmann, Nils Rosemann, and Erik Maehle 3.5 Increasing Learning Speed by Imitation in Multi-robot Societies . . 295 Alexander Jungmann, Bernd Kleinjohann, and Willi Richert 3.6 Learning to Look at Humans . . . . . . . . . . . . . . . . . . . . . . 309 Thomas Walther and Rolf P. Würtz Chapter 4

Architectures

4.1 Observation and Control of Organic Systems . . . . . . . . . . . . . 325 Sven Tomforde, Holger Prothmann, Jürgen Branke, Jörg Hähner, Moez Mnif, Christian Müller-Schloer, Urban Richter, and Hartmut Schmeck

Contents

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4.2 Organic Computing Middleware for Ubiquitous Environments . . . 339 Michael Roth, Julia Schmitt, Rolf Kiefhaber, Florian Kluge, and Theo Ungerer 4.3 DodOrg—A Self-adaptive Organic Many-core Architecture . . . . . 353 Thomas Ebi, David Kramer, Christian Schuck, Alexander von Renteln, Jürgen Becker, Uwe Brinkschulte, Jörg Henkel, and Wolfgang Karl 4.4 The Artificial Hormone System—An Organic Middleware for Self-organising Real-Time Task Allocation . . . . . . . . . . . . . . . 369 Alexander von Renteln, Uwe Brinkschulte, and Mathias Pacher 4.5 ORCA: An Organic Robot Control Architecture . . . . . . . . . . . 385 Werner Brockmann, Erik Maehle, Karl-Erwin Grosspietsch, Nils Rosemann, and Bojan Jakimovski 4.6 The EPOC Architecture—Enabling Evolution Under Hard Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399 Moritz Neukirchner, Steffen Stein, and Rolf Ernst 4.7 Autonomic System on Chip Platform . . . . . . . . . . . . . . . . . . 413 Abdelmajid Bouajila, Johannes Zeppenfeld, Walter Stechele, Andreas Bernauer, Oliver Bringmann, Wolfgang Rosenstiel, and Andreas Herkersdorf Chapter 5

Applications

5.1 Organic Traffic Control . . . . . . . . . . . . . . . . . . . . . . . . . 431 Holger Prothmann, Sven Tomforde, Jürgen Branke, Jörg Hähner, Christian Müller-Schloer, and Hartmut Schmeck 5.2 Methods for Improving the Flow of Traffic . . . . . . . . . . . . . . . 447 Sándor P. Fekete, Björn Hendriks, Christopher Tessars, Axel Wegener, Horst Hellbrück, Stefan Fischer, and Sebastian Ebers 5.3 Applying ASoC to Multi-core Applications for Workload Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461 Johannes Zeppenfeld, Abdelmajid Bouajila, Walter Stechele, Andreas Bernauer, Oliver Bringmann, Wolfgang Rosenstiel, and Andreas Herkersdorf 5.4 Efficient Adaptive Communication from Resource-Restricted Transmitters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473 Stephan Sigg, Michael Beigl, and Behnam Banitalebi 5.5 OrganicBus: Organic Self-organising Bus-Based Communication Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489 Tobias Ziermann, Stefan Wildermann, and Jürgen Teich 5.6 OC Principles in Wireless Sensor Networks . . . . . . . . . . . . . . 503 Jakob Salzmann, Ralf Behnke, and Dirk Timmermann

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5.7 Application of the Organic Robot Control Architecture ORCA to the Six-Legged Walking Robot OSCAR . . . . . . . . . . . . . . . . 517 Erik Maehle, Werner Brockmann, Karl-Erwin Grosspietsch, Adam El Sayed Auf, Bojan Jakimovski, Stephan Krannich, Marek Litza, Raphael Maas, and Ahmad Al-Homsy 5.8 Energy-Awareness in Self-organising Robotic Exploration Teams . . 531 Bastian Degener, Barbara Kempkes, and Friedhelm Meyer auf der Heide 5.9 A Fast Hierarchical Learning Approach for Autonomous Robots . . 545 Alexander Jungmann, Bernd Kleinjohann, and Willi Richert 5.10 Emergent Computing with Marching Pixels for Real-Time Smart Camera Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . 559 Dietmar Fey and Marcus Komann Chapter 6

Status and Outlook

6.1.1 OC Techniques Applied to Solve Reliability Problems in Future 1000-Core Processors . . . . . . . . . . . . . . . . . . . . . . . . . 575 Arne Garbade, Sebastian Weis, Sebastian Schlingmann, and Theo Ungerer 6.1.2 Dynamic Classification for Embedded Real-Time Systems . . . . . 579 Florian Kluge, Jörg Mische, and Theo Ungerer 6.1.3 On the Future of Chemistry-Inspired Computing . . . . . . . . . . 583 Peter Kreyssig and Peter Dittrich 6.1.4 Agent-Based Thermal Management for Multi-core Architectures . 587 Thomas Ebi, Janmartin Jahn, and Jörg Henkel 6.1.5 Trust Management—Handling Uncertainties in Embedded Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589 Werner Brockmann, Andreas Buschermöhle, Jens Hülsmann, and Nils Rosemann 6.1.6 OC-Trust: Towards Trustworthy Organic Computing Systems . . 593 Jan-Philipp Steghöfer and Wolfgang Reif 6.1.7 Emergence in Action . . . . . . . . . . . . . . . . . . . . . . . . . . 597 Matthias Werner, Jan Richling, and Hans-Ulrich Heiss 6.1.8 Organic Computing in Off-highway Machines . . . . . . . . . . . 601 Sanaz Mostaghim, Hartmut Schmeck, Micaela Wünsche, Marcus Geimer, and Timo Kautzmann 6.1.9 Decentralised Energy Management for Smart Homes . . . . . . . 605 Florian Allerding, Birger Becker, and Hartmut Schmeck 6.1.10 Self-organising Distributed Smart Camera Systems . . . . . . . . . 609 Michael Wittke and Jörg Hähner

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6.1.11 Organic Network Control . . . . . . . . . . . . . . . . . . . . . . . 611 Björn Hurling, Sven Tomforde, and Jörg Hähner 6.2

Organic Computing: Quo vadis? . . . . . . . . . . . . . . . . . . . 615 Christian Müller-Schloer and Hartmut Schmeck

Review Team

Name

Surname

Affiliation

Gerrit

Anders

Jürgen

Becker

Michael

Beigl

Andreas

Bernauer

Abdelmajid

Bouajila

Jürgen

Branke

Uwe

Brinkschulte

Werner

Brockmann

Bastian

Degener

Peter

Dittrich

Rolf

Ernst

Sandor

Fekete

Universität Augsburg, Institut für Software und Systems Engineering Karlsruhe Institute of Technology (KIT), Institute for Information Processing Technologies Karlsruhe Institute of Technology (KIT), Pervasive Computing Systems Eberhard Karls Universität Tübingen, Wilhelm-Schickard Institut für Informatik, Lehrstuhl Technische Informatik Technische Universität München, Lehrstuhl für Integrierte Systeme University of Warwick, Warwick Business School J.-W. Goethe Universität Frankfurt, Institut für Eingebettete Systeme University of Osnabrück, Institute of Computer Science Universität Paderborn, Heinz Nixdorf Institute Friedrich-Schiller-University Jena, Institute of Computer Science, Bio Systems Analysis Group Technische Universität Braunschweig, Institut für Datentechnik und Kommunikationsnetze Technische Universität Braunschweig, Institute of Operating Systems and Computer Networks xv

xvi

Review Team

Dietmar

Fey

Dominik

Fisch

Stefan

Fischer

Jörg

Hähner

Hans-Ulrich

Heiß

Jörg

Henkel

Andreas

Herkersdorf

Wolfgang

Karl

Paul

Kaufmann

Bernd Erik

Kleinjohann Maehle

Friedhelm

Meyer auf der Heide

Martin Sanaz

Middendorf Mostaghim

Gero

Mühl

Christian

Müller-Schloer

Florian

Nafz

Marco

Platzner

University of Erlangen-Nürnberg, Department of Computer Science 3 University of Applied Sciences Deggendorf, Computationally Intelligent Systems Lab Universität zu Lübeck, Institute of Telematics Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur Technische Universität Berlin, Fakultät für Elektrotechnik und Informatik, Institut für Telekommunikationssysteme Karlsruhe Institute of Technology (KIT), Institute of Computer Science and Engineering Technische Universität München, Lehrstuhl für Integrierte Systeme Karlsruhe Institute of Technology (KIT), Institute of Computer Science and Engineering University of Paderborn, Faculty for Electrical Engineering, Computer Science and Mathematics, Department of Computer Science University of Paderborn, C-LAB University of Lübeck, Institute of Computer Engineering Universität Paderborn, Heinz Nixdorf Institute Universität Leipzig, Institut für Informatik Karlsruhe Institute of Technology (KIT), Institute AIFB Universität Rostock, Fakultät für Informatik und Elektrotechnik, Institut für Informatik Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur Universität Augsburg, Institut für Software und Systems Engineering University of Paderborn, Faculty for Electrical Engineering, Computer Science and Mathematics, Department of Computer Science

Review Team

xvii

Franz

Rammig

Wolfgang

Reif

Wolfgang

Rosenstiel

Christian

Schindelhauer

Hartmut

Schmeck

Hella

Seebach

Bernhard

Sick

Florian

Siefert

Walter

Stechele

Jan-Philipp

Steghöfer

Jürgen

Teich

Dirk

Timmermann

Sven

Tomforde

Theo

Ungerer

Arno

Wacker

Torben

Weis

Stefan

Wildermann

Universität Paderborn, Heinz Nixdorf Institut Universität Augsburg, Institut für Software und Systems Engineering Eberhard Karls Universität Tübingen, Wilhelm-Schickard Institut für Informatik, Lehrstuhl Technische Informatik Albert-Ludwigs-Universität Freiburg, Fakultät für Angewandte Wissenschaften, Institut für Informatik, Rechnernetze und Telematik Karlsruhe Institute of Technology (KIT), Institute AIFB Universität Augsburg, Institut für Software und Systems Engineering University of Applied Sciences Deggendorf, Computationally Intelligent Systems Lab Universität Augsburg, Institut für Software und Systems Engineering Technische Universität München, Lehrstuhl für Integrierte Systeme Universität Augsburg, Institut für Software und Systems Engineering University of Erlangen-Nuremberg, Department of Computer Science 12 (Hardware-Software-Co-Design) Universität Rostock, Institut für Angewandte Mikroelektronik und Datentechnik Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme Universität Duisburg-Essen, Fakultät für Ingenieurwissenschaften, Fachgebiet Verteilte Systeme Universität Duisburg-Essen, Fakultät für Ingenieurwissenschaften, Fachgebiet Verteilte Systeme University of Erlangen-Nuremberg, Department of Computer Science 12 (Hardware-Software-Co-Design)

xviii

Review Team

Rolf

Würtz

Johannes

Zeppenfeld

Tobias

Ziermann

Ruhr-Universität Bochum, Institut für Neuroinformatik Technische Universität München, Lehrstuhl für Integrierte Systeme University of Erlangen-Nuremberg, Department of Computer Science 12 (Hardware-Software-Co-Design)

Projects

Acronym

Project name project leader(s), affiliation(s)

Chapter reference

ASoC

Architecture and Design Methodology for Autonomic Systems on Chip Wolfgang Rosenstiel, Universität Tübingen Andreas Herkersdorf, Technische Universität München

3.2, 4.7, 5.3

AutoNomos

A Distributed and Self-Regulating Approach for Organizing a Large System of Mobile Objects Sandor Fekete, Technische Universität Braunschweig Stefan Fischer, Universität zu Lübeck

2.7, 5.2

CHEMORG

The Bio-Chemical Information Processing 1.4, 2.6 Metaphor as a Programming Paradigm for Organic Computing Peter Dittrich, Friedrich-Schiller-Universität Jena

DodOrg

Digital On-Demand Computing Organism for Real-Time Systems Jürgen Becker, Karlsruher Institut für Technologie Uwe Brinkschulte, Universität Frankfurt am Main Jörg Henkel, Karlsruher Institut für Technologie Wolfgang Karl, Karlsruher Institut für Technologie

EmergentRadio Emergent strategies to optimise collaborative transmission schemes Michael Beigl, Karlsruher Institut für Technologie Energy Aware Self Organized Communication in Complex Networks Dirk Timmermann, Universität Rostock

2.3, 4.3, 4.4

5.4

5.6

xix

xx

Projects

EPOC

Embedded Performance Analysis for Organic Computing Rolf Ernst, Technische Universität Braunschweig

4.6

ESLAS

A Modular Approach for Evolving Societies of Learning Autonomous Systems Franz J. Rammig, Universität Paderborn Bernd Kleinjohann, Universität Paderborn

3.5, 5.9

Functional Knowledge Fusion

On-line Fusion of Functional Knowledge within Distributed Sensor Networks Bernhard Sick, Universität Passau

1.3, 3.3

Learning to look at humans Rolf P. Würtz, Ruhr-Universität Bochum

3.6

Marching Pixels Generic Emergent Computing in Chip Architectures 2.4, 5.10 Dietmar Fey, Friedrich-Schiller-Universität Jena MODOC

Model-Driven Development of Self-Organizing Control Applications Hans-Ulrich Heiß, Technische Universität Berlin Gero Mühl, Universität Rostock Jan Richling, Technische Universität Berlin Arno Wacker, Universität Duisburg-Essen Torben Weis, Universität Duisburg-Essen

2.1

MOVES

Multi-Objective Intrinsic Evolution of Embedded Systems Marco Platzner, Universität Paderborn

2.5

OCµ

Organic Computing Middleware for Ubiquitous Environments Theo Ungerer, Universität Augsburg Wolfgang Trumler, Siemens AG

4.2

OCCS

Observation and Control of Collaborative Systems Hartmut Schmeck, Karlsruher Institut für Technologie Christian Müller-Schloer, Leibniz Universität Hannover Jürgen Branke, University of Warwick Jörg Hähner, Leibniz Universität Hannover

1.1, 1.2, 3.1

ORCA

Organic Fault-Tolerant Control Architecture for Robotic Applications Erik Maehle, Universität Lübeck Werner Brockmann, Universität Osnabrück

3.4, 4.5, 5.7

Projects

xxi

OrganicBus

Organic Self-organizing Bus-Based Communication Systems Jürgen Teich, Universität Erlangen-Nürnberg

5.5

OTC

Organic Traffic Control Christian Müller-Schloer, Leibniz Universität Hannover Hartmut Schmeck, Karlsruher Institut für Technologie Jürgen Branke, University of Warwick Jörg Hähner, Leibniz Universität Hannover

4.1, 5.1

SAVE ORCA

Formal Modeling, Safety Analysis, and Verification of Organic Computing Applications Wolfgang Reif, Universität Augsburg

1.5, 2.2

Smart Teams

Local Distributed Strategies for Self-Organizing Robotic Exploration Teams Friedhelm Meyer auf der Heide, Universität Paderborn Christian Schindelhauer, Universität Freiburg

5.8

SOS-TC

Organisation and Control of Self-Organising Systems in Technical Compounds Martin Middendorf, Universität Leipzig

1.6

Contributors

Name

Surname

Affiliation

Ahmad

Al-Homsy

Florian

Allerding

Gerrit

Anders

Behnam

Banitalebi

Birger

Becker

Jürgen

Becker

Ralf

Behnke

Michael

Beigl

Andreas

Bernauer

Abdelmajid

Bouajila

Jürgen

Branke

Oliver

Bringmann

University of Lübeck, Institute of Computer Engineering Karlsruhe Institute of Technology (KIT), Institute AIFB Universität Augsburg, Institut für Software und Systems Engineering Karlsruhe Institute of Technology (KIT), Pervasive Computing Systems Karlsruhe Institute of Technology (KIT), Institute AIFB Karlsruhe Institute of Technology (KIT), Institute for Information Processing Technologies Universität Rostock, Institut für Angewandte Mikroelektronik und Datentechnik Karlsruhe Institute of Technology (KIT), Pervasive Computing Systems Eberhard Karls Universität Tübingen, Wilhelm-Schickard Institut für Informatik, Lehrstuhl Technische Informatik Technische Universität München, Lehrstuhl für Integrierte Systeme University of Warwick, Warwick Business School Forschungszentrum Informatik Karlsruhe xxiii

xxiv

Contributors

Uwe

Brinkschulte

Werner

Brockmann

Arne

Brutschy

Rainer

Buchty

Andreas

Buschermöhle

Emre

Cakar

Bastian

Degener

Peter

Dittrich

Konrad

Diwold

Sebastian

Ebers

Thomas

Ebi

Adam

El Sayed Auf

Rolf

Ernst

Sandor

Fekete

Dietmar

Fey

Dominik

Fisch

Stefan

Fischer

Nugroho

Fredivianus

J.-W. Goethe Universität Frankfurt, Institut für Eingebettete Systeme University of Osnabrück, Institute of Computer Science Université Libre de Bruxelles, IRIDIA – CODE Karlsruhe Institute of Technology (KIT), Institute of Computer Science and Engineering University of Osnabrück, Institute of Computer Science Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur Universität Paderborn, Heinz Nixdorf Institute Friedrich-Schiller-University Jena, Institute of Computer Science, Bio Systems Analysis Group Universität Leipzig, Institut für Informatik Universität zu Lübeck, Institute of Telematics Karlsruhe Institute of Technology (KIT), Institute of Computer Science and Engineering University of Lübeck, Institute of Computer Engineering Technische Universität Braunschweig, Institut für Datentechnik und Kommunikationsnetze Technische Universität Braunschweig, Institute of Operating Systems and Computer Networks University of Erlangen-Nürnberg, Department of Computer Science 3 University of Applied Sciences Deggendorf, Computationally Intelligent Systems Lab Universität zu Lübeck, Institute of Telematics Karlsruhe Institute of Technology (KIT), Institute AIFB

Contributors

xxv

Arne

Garbade

Marcus

Geimer

Karl-Erwin

Großpietsch

Mathias

Gutmann

Jörg

Hähner

Hans-Ulrich

Heiß

Horst

Hellbrück

Björn

Hendriks

Jörg

Henkel

Andreas

Herkersdorf

Sebastian

Holzapfel

Jens

Hülsmann

Björn

Hurling

Martin

Jänicke

Janmartin

Jahn

Bojan

Jakimovski

Alexander

Jungmann

Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme Karlsruhe Institute of Technology (KIT), Institute AIFB University of Lübeck, Institute of Computer Engineering Karlsruhe Institute of Technology (KIT), Institut für Philosophie Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur Technische Universität Berlin, Fakultät für Elektrotechnik und Informatik, Institut für Telekommunikationssysteme University of Applied Sciences Lübeck, Electrical Engineering and Computer Science Technische Universität Braunschweig, Institute of Operating Systems and Computer Networks Karlsruhe Institute of Technology (KIT), Institute of Computer Science and Engineering Technische Universität München, Lehrstuhl für Integrierte Systeme Universität Duisburg-Essen, Fakultät für Ingenieurwissenschaften, Fachgebiet Verteilte Systeme University of Osnabrück, Institute of Computer Science Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur University of Applied Sciences Deggendorf, Computationally Intelligent Systems Lab Karlsruhe Institute of Technology (KIT), Institute of Computer Science and Engineering University of Lübeck, Institute of Computer Engineering University of Paderborn, C-LAB

xxvi

Contributors

Edgar

Kalkowski

Wolfgang

Karl

Paul

Kaufmann

Timo

Kautzmann

Barbara

Kempkes

Rolf

Kiefhaber

Bernd Florian

Kleinjohann Kluge

Marcus

Komann

David

Kramer

Stephan

Krannich

Peter

Kreyssig

Marek

Litza

Raphael

Maas

Erik

Maehle

Naoki

Matsumaru

Daniel

Merkle

University of Applied Sciences Deggendorf, Computationally Intelligent Systems Lab Karlsruhe Institute of Technology (KIT), Institute of Computer Science and Engineering University of Paderborn, Faculty for Electrical Engineering, Computer Science and Mathematics, Department of Computer Science Karlsruhe Institute of Technology (KIT), Institute AIFB Universität Paderborn, Heinz Nixdorf Institute Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme University of Paderborn, C-LAB Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme Friedrich-Schiller-Universität Jena, Institute of Computer Science, Chair for Computer Architecture and Communication Karlsruhe Institute of Technology (KIT), Institute of Computer Science and Engineering University of Lübeck, Institute of Computer Engineering Friedrich-Schiller-University Jena, Institute of Computer Science, Bio Systems Analysis Group University of Lübeck, Institute of Computer Engineering University of Lübeck, Institute of Computer Engineering University of Lübeck, Institute of Computer Engineering Friedrich-Schiller-University Jena, Institute of Computer Science, Bio Systems Analysis Group University of Southern Denmark, Department of Mathematics & Computer Science

Contributors

xxvii

Friedhelm

Meyer auf der Heide

Martin

Middendorf

Jörg

Mische

Moez

Mnif

Sanaz

Mostaghim

Gero

Mühl

Christian

Müller-Schloer

Florian

Nafz

Moritz

Neukirchner

Mathias

Pacher

Helge

Parzyjegla

Benjamin

Pfundt

Marco

Platzner

Franz

Rammig

Benjamin

Rathgeber

Marc

Reichenbach

Wolfgang

Reif

Willi

Richert

Universität Paderborn, Heinz Nixdorf Institute Universität Leipzig, Institut für Informatik Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur Karlsruhe Institute of Technology (KIT), Institute AIFB Universität Rostock, Fakultät für Informatik und Elektrotechnik, Institut für Informatik Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur Universität Augsburg, Institut für Software und Systems Engineering Technische Universität Braunschweig, Institut für Datentechnik und Kommunikationsnetze J.-W. Goethe Universität Frankfurt, Institut für Eingebettete Systeme Universität Rostock, Fakultät für Informatik und Elektrotechnik, Institut für Informatik University of Erlangen-Nürnberg, Department of Computer Science 3 University of Paderborn, Faculty for Electrical Engineering, Computer Science and Mathematics, Department of Computer Science Universität Paderborn, Heinz Nixdorf Institut Karlsruhe Institute of Technology (KIT), Institut für Philosophie University of Erlangen-Nürnberg, Department of Computer Science 3 Universität Augsburg, Institut für Software und Systems Engineering University of Paderborn, C-LAB

xxviii

Contributors

Jan

Richling

Urban

Richter

Nils

Rosemann

Wolfgang

Rosenstiel

Michael

Roth

Jakob

Salzmann

Alexander

Scheidler

Julia

Schmitt

Christian

Schindelhauer

Sebastian

Schlingmann

Hartmut

Schmeck

Arnd

Schröter

Christian

Schuck

Hella

Seebach

Enrico

Seib

Ralf

Seidler

Technische Universität Berlin, Fakultät für Elektrotechnik und Informatik, Institut für Telekommunikationssysteme Karlsruhe Institute of Technology (KIT), Institute AIFB University of Osnabrück, Institute of Computer Science Eberhard Karls Universität Tübingen, Wilhelm-Schickard Institut für Informatik, Lehrstuhl Technische Informatik Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme Universität Rostock, Institut für Angewandte Mikroelektronik und Datentechnik Université Libre de Bruxelles, IRIDIA – CODE Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme Albert-Ludwigs-Universität Freiburg, Fakultät für Angewandte Wissenschaften, Institut für Informatik, Rechnernetze und Telematik Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme Karlsruhe Institute of Technology (KIT), Institute AIFB Technische Universität Berlin, Fakultät für Elektrotechnik und Informatik, Institut für Telekommunikationssysteme Karlsruhe Institute of Technology (KIT), Institute for Information Processing Technologies Universität Augsburg, Institut für Software und Systems Engineering Universität Rostock, Fakultät für Informatik und Elektrotechnik, Institut für Informatik University of Erlangen-Nürnberg, Department of Computer Science 3

Contributors

xxix

Bernhard

Sick

Florian

Siefert

Stephan

Sigg

Walter

Stechele

Jan-Philipp

Steghöfer

Steffen

Stein

Tareq

Syed

Jürgen

Teich

Christopher

Tessars

Dirk

Timmermann

Sven

Tomforde

Theo

Ungerer

Alexander

von Renteln

Arno

Wacker

Thomas

Walther

Matthäus

Wander

Axel

Wegener

University of Applied Sciences Deggendorf, Computationally Intelligent Systems Lab Universität Augsburg, Institut für Software und Systems Engineering Karlsruhe Institute of Technology (KIT), Pervasive Computing Systems Technische Universität München, Lehrstuhl für Integrierte Systeme Universität Augsburg, Institut für Software und Systems Engineering Technische Universität Braunschweig, Institut für Datentechnik und Kommunikationsnetze Karlsruhe Institute of Technology (KIT), Institut für Philosophie University of Erlangen-Nuremberg, Department of Computer Science 12 (Hardware-Software-Co-Design) Technische Universität Braunschweig, Institute of Operating Systems and Computer Networks Universität Rostock, Institut für Angewandte Mikroelektronik und Datentechnik Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme J.-W. Goethe Universität Frankfurt, Institut für Eingebettete Systeme Universität Duisburg-Essen, Fakultät für Ingenieurwissenschaften, Fachgebiet Verteilte Systeme Ruhr-Universität Bochum, Institut für Neuroinformatik Universität Duisburg-Essen, Fakultät für Ingenieurwissenschaften, Fachgebiet Verteilte Systeme Universität zu Lübeck, Institute of Telematics

xxx

Contributors

Sebastian

Weis

Torben

Weis

Mathias

Werner

Stefan

Wildermann

Michael

Wittke

Micaela

Wünsche

Rolf

Würtz

Johannes

Zeppenfeld

Tobias

Ziermann

Universität Augsburg, Institut für Informatik, Lehrstuhl für Systemnahe Informatik und Kommunikationssysteme Universität Duisburg-Essen, Fakultät für Ingenieurwissenschaften, Fachgebiet Verteilte Systeme Technische Universität Chemnitz, Fakultät für Informatik, Professur Betriebssysteme University of Erlangen-Nuremberg, Department of Computer Science 12 (Hardware-Software-Co-Design) Leibniz Universität Hannover, Institut für Systems Engineering, System und Rechner Architektur Karlsruhe Institute of Technology (KIT), Institute AIFB Ruhr-Universität Bochum, Institut für Neuroinformatik Technische Universität München, Lehrstuhl für Integrierte Systeme University of Erlangen-Nuremberg, Department of Computer Science 12 (Hardware-Software-Co-Design)