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+# qronOS Observer Abstractions -- Execution Time Benchmarks
+
+This repository contains the sources for the qronOS state abstractions execution time benchmarks presented in [1]: we compare the execution time of our approach against the update steps of robust state estimation approaches from the literature, namely a Luenberger observer described by Dkhil et al. [2] and a Kalman filter as presented by Noack et al. [3].
+
+
+## Requirements
+
+This section states the requirements for reproducing the experiment.
+
+
+### Hardware
+
+All tests were carried out on an STM32F411E-DISCO board [4], which contains an STlink programmer. We replaced the latter's firmware with the Black Magic Probe [5]. However, any way to flash the ELF binary onto the main STM32F4 controller is fine.
+
+
+### Software
+
+These are the prerequisites on the software side:
+
+- arm-none-eabi-gcc toolchain (We used version 12.2.0. Expect different results for other versions.)
+- arm-none-eabi-newlib toolchain (We used version 4.3.0. Expect different results for other versions.)
+- arm-none-eabi-binutils toolchain (We used version 2.39. Expect different results for other versions.)
+- arm-none-eabi-gdb
+- git
+- make
+- python3 (We used version 3.7.10. Expect problems when using another version and use, e.g., pyenv [6])
+- doxygen (Only for building the documentation)
+
+
+## Usage
+
+```sh
+# Initializes repository once
+git submodule init
+git submodule update --recursive
+pipenv install
+```
+
+```sh
+# Generates Doxygen documentation under $PWD/doc/html/index.html
+make doc
+```
+
+```sh
+# Compile elf binary $PWD/build/state_abstractions.elf for STM32F411E-DISCO board
+make
+```
+
+```sh
+# Flash using Black Magic Probe when udev rules are set up correctly [5].
+# Please adjust according to your programmer (e.g., the stock STlink).
+make flash
+```
+
+```sh
+# Retrieve data after connecting the user USB and assuming /dev/ttyACM2 is the serial device (inf4@FAU State Abstractions Execution Time Benchmark)
+pipenv run scripts/readout.sh /dev/ttyACM2 2000000 result.json
+```
+
+```sh
+# Run evaluation script and store files under $PWD/results
+pipenv run python scripts/evaluate.py result.json results
+```
+
+
+## Licensing
+
+The sources packaged here are distributed under the GPLv3 license, see COPYING. Further, the file DEPENDENCIES.md lists the third-party dependencies used by this package and their license texts.
+
+
+
+## Literature
+
+[1] Tim Rheinfels, Maximilian Gaukler, and Peter Ulbrich: "A New Perspective on Criticality: Efficient State Abstraction and Runtime Monitoring of Mixed-Criticality Real-time Control Systems". ECRTS'23. DOI: 10.4230/LIPIcs.ECRTS.2023.16.
+
+[2] Monia Dkhil et al.: "Interval Estimation for Discrete-Time Switched Linear Systems Based on $L_\infty$ Observer and Ellipsoid Analysis". IEEE Control Systems Letters, 5(1):13-–18, 2021.
+
+[3] Benjamin Noack et al.: "State estimation for ellipsoidally constrained dynamic systems with set-membership pseudo measurements". In Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages 297-–302, 2015.
+
+[4] STMicroelectronics: "Discovery kit with STM32F411VE MCU ". https://www.st.com/en/evaluation-tools/32f411ediscovery.html. Accessed 22. March 2023.
+
+[5] Black Magic Debug documentation: FAQ "It’s annoying to look up an always-changing device name on Linux.", https://black-magic.org/knowledge/faq.html. Accessed 22. March 2023.
+
+[6] pyenv. https://github.com/pyenv/pyenv. Accessed 22. March 2023.