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A Bdi Agent Based Framework for Modeling and Simulation of Cyber Physical Systems

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A Bdi Agent Based Framework for Modeling and Simulation of Cyber Physical Systems A BDI AGENT BASED FRAMEWORK FOR MODELING AND SIMULATION OF CYBER PHYSICAL SYSTEMS A Thesis Submitted to Temple University Graduate Board In Partial Fulfillment Of the Requirements for the Degree MASTER OF SCIENCE IN ELECTRICAL ENGINEERING By Qiangguo Ren August, 2011 Thesis Approval(s): __________________________________________ __________________ Dr. Li Bai, ECE (Thesis Advisor) Date __________________________________________ __________________ Dr. Saroj Biswas, ECE (Committee Member) Date __________________________________________ __________________ Dr. Frank Ferrese, ECE (Committee Member) Date ABSTRACT Cyber-physical systems refer to a new generation of synergy systems with integrated computational and physical processes which interact with one other. The development and simulation of cyber-physical systems (CPSs) are obstructed by the complexity of the subsystems of which they are comprised, fundamental differences in the operation of cyber and physical elements, significant correlative dependencies among the elements, and operation in dynamic and open environments. The Multiple Belief-Desire-Intention (BDI) agent system (BDI multi-agent system) is a promising choice for overcoming these challenges, since it offers a natural way to decompose complex systems or large scale problems into decentralized, autonomous, interacting, more or less intelligent entities. In particular, BDI agents have the ability to interact with, and expand the capabilities of, the physical world through computation, communication, and control. A BDI agent has its philosophical grounds on intentionality and practical reasoning, and it is natural to combine a philosophical model of human practical reasoning with the physical operation and any cyber infrastructure. In this thesis, we introduce the BDI Model, discuss implementations of BDI agents from an ideal theoretical perspective as well as from a more practical perspective, and show how they can be used to bridge the cyber infrastructure and the physical operation using the framework. We then strengthen the framework’s performance using the state-of-the-art parallel computing architecture and eventually propose a BDI agent based software framework to enable the efficient modeling and simulation of heterogeneous CPS systems in an integrated manner. ii TABLE OF CONTENTS ABSTRACT ................................................................................................................................................. II LIST OF TABLES ........................................................................................................................................ V LIST OF FIGURES .................................................................................................................................... VI CHAPTER 1 INTRODUCTION ................................................................................................................................... 1 Cyber-Physical System .................................................................................................................... 2 BDI Multi-Agent System ................................................................................................................. 4 GPGPU............................................................................................................................................. 8 Proposed Research ........................................................................................................................... 9 Organization of the Thesis ............................................................................................................. 10 2 BDI MULTI-AGENT SYSTEM .......................................................................................................... 11 Belief-Desire-Intention Model ....................................................................................................... 12 BDI-Agent ...................................................................................................................................... 16 Beliefs ................................................................................................................................... 16 Desires .................................................................................................................................. 17 Intentions .............................................................................................................................. 17 BDI Multi-Agent System ............................................................................................................... 19 Fundamental Platform - JADEX........................................................................................... 21 BDI in JADEX ...................................................................................................................... 21 Reasoning Mechanism in JADEX ........................................................................................ 26 Standard Compliance in JADEX .......................................................................................... 29 Implementation in JADEX ................................................................................................... 30 Summary ............................................................................................................................... 35 3 GPU COMPUTING .............................................................................................................................. 37 Compute Unified Device Architecture ........................................................................................... 38 Parallel Computing ............................................................................................................... 39 CPUs ..................................................................................................................................... 39 GPU Computing ................................................................................................................... 41 CUDA ................................................................................................................................... 44 Parallel Computing with CUDA .................................................................................................... 46 Parallel Programming Model ................................................................................................ 51 Kernels .................................................................................................................................. 53 Thread Model ....................................................................................................................... 54 Memory Model ..................................................................................................................... 56 Hardware Distinctions .......................................................................................................... 60 Programming on a CUDA-Enabled Device .......................................................................... 61 Programming Interface ......................................................................................................... 64 Typical Applications of CUDA ...................................................................................................... 67 Medical Imaging ................................................................................................................... 67 Computational Fluid Dynamics ............................................................................................ 69 Environmental Science ......................................................................................................... 71 Summary ............................................................................................................................... 73 iii 4 PROPOSED RESEARCH .................................................................................................................... 76 BDI Agent Based Modeling ........................................................................................................... 82 Technology ........................................................................................................................... 83 Methodology ......................................................................................................................... 85 Implementation ..................................................................................................................... 87 Summary ............................................................................................................................... 90 BDI Reasoning ............................................................................................................................... 90 Constitution .......................................................................................................................... 91 Mechanism ........................................................................................................................... 92 Implementation ..................................................................................................................... 94 Summary ............................................................................................................................... 97 CUDA Capabilities .......................................................................................................................
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