Hostname: page-component-76fb5796d-9pm4c Total loading time: 0 Render date: 2024-04-25T14:18:03.624Z Has data issue: false hasContentIssue false
  • English
  • Français

A formal approach to collaborative modelling and co-simulation for embedded systems†

Published online by Cambridge University Press:  08 July 2013

J. S. FITZGERALD ,
P. G. LARSEN ,
K. G. PIERCE  and
M. H. G. VERHOEF
J. S. FITZGERALD
Affiliation:
Newcastle University, Newcastle upon Tyne, United Kingdom Email: john.fitzgerald@newcastle.ac.uk; ken.pierce@newcastle.ac.uk
P. G. LARSEN
Affiliation:
Aarhus School of Engineering, Aarhus, Denmark Email: pgl@iha.dk
K. G. PIERCE
Affiliation:
Newcastle University, Newcastle upon Tyne, United Kingdom Email: john.fitzgerald@newcastle.ac.uk; ken.pierce@newcastle.ac.uk
M. H. G. VERHOEF
Affiliation:
CHESS Embedded Technology International BV, The Netherlands Email: Marcel.Verhoef@chess.nl
Get access Rights & Permissions [Opens in a new window]

Abstract

The effective use of model-based formal methods in the development of complex embedded systems requires the integration of discrete-event models of controllers with continuous-time models of their environments. This paper proposes a new approach to the development of such combined models (co-models), in which an initial discrete-event model may include approximations of continuous-time behaviour that can subsequently be replaced by couplings to continuous-time models. An operational semantics of co-simulation allows the discrete and continuous models to run on their respective simulators and managed by a coordinating co-simulation engine. This permits the exploration of the composite co-model's behaviour in a range of operational scenarios. The approach has been realised using the Vienna Development Method (VDM) as the discrete-event formalism, and 20-sim as the continuous-time framework, and has been applied successfully to a case study based on the distributed controller for a personal transporter device.

Type
Paper
Information
Mathematical Structures in Computer Science , Volume 23 , Special Issue 4: Lightweight and Practical Formal Methods in the Design and Analysis of Safety-Critical Systems , August 2013 , pp. 726 - 750
Copyright
Copyright © Cambridge University Press 2013 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Footnotes

†

This work was supported by the EU FP7 DESTECS project.

References

van Amerongen, J. (2010) Dynamical Systems for Creative Technology, Controllab Products, Enschede, Netherlands.Google Scholar
Bicarregui, J., Fitzgerald, J., Lindsay, P., Moore, R. and Ritchie, B. (1994) Proof in VDM: A Practitioner's Guide, FACIT, Springer-Verlag.CrossRefGoogle Scholar
Bjørner, D. and Jones, C. (eds.) (1978) The Vienna Development Method: The Meta-Language. Springer-Verlag Lecture Notes in Computer Science 61.CrossRefGoogle Scholar
Breedveld, P. (1985) Multibond-graph elements in physical systems theory. Journal of the Franklin Institute 319 (1/2)1–36.CrossRefGoogle Scholar
Broenink, J. F. (1990) Computer-aided physical-systems modeling and simulation: a bond-graph approach, Ph.D. thesis, Faculty of Electrical Engineering, University of Twente, Enschede, Netherlands.Google Scholar
Broenink, J. F. (1997) Modelling, Simulation and Analysis with 20-Sim. Journal A – Special Issue CACSD 38 (3)22–25.Google Scholar
Campbell, S. L., Chancelier, J.-P. and Nikoukhah, R. (2006) Modeling and Simulation in Scilab/Scicos with ScicosLab 4.4, Springer.Google Scholar
Cervin, A.et al. (2006) Control loop timing analysis using truetime and jitterbug. In: Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 1194–1199.CrossRefGoogle Scholar
Davis, J.et al. (1999) Ptolemy-II: Heterogeneous concurrent modeling and design in Java. Technical Memorandum UCB/ERL No. M99/40, University of California at Berkeley.Google Scholar
Eker, J.et al. (2003) Taming Heterogeneity – the Ptolemy Approach. Proceedings of the IEEE 91 (1)127–144.CrossRefGoogle Scholar
Fitzgerald, J., Larsen, P. G. and Sahara, S. (2008) VDMTools: Advances in Support for Formal Modeling in VDM. ACM Sigplan Notices 43 (2)3–11.Google Scholar
Fitzgerald, J., Larsen, P. G., Mukherjee, P., Plat, N. and Verhoef, M. (2005) Validated Designs for Object–oriented Systems, Springer.Google Scholar
Fitzgerald, J., Larsen, P. G., Pierce, K., Verhoef, M. and Wolff, S. (2010) Collaborative Modelling and Co-simulation in the Development of Dependable Embedded Systems. In: Méry, D. and Merz, S. (eds.) IFM 2010, Integrated Formal Methods. Springer-Verlag Lecture Notes in Computer Science 6396 12–26.CrossRefGoogle Scholar
Gheorghe, L., Bouchhima, F., Nicolescu, G. and Boucheneb, H. (2006) Formal definitions of simulation interfaces in a continuous/discrete co-simulation tool. In: RSP '06: Proceedings of the Seventeenth IEEE International Workshop on Rapid System Prototyping 186–192.CrossRefGoogle Scholar
Heemels, M. and Muller, G. (2007) Boderc: Model-Based Design of High-tech Systems (second edition), Embedded Systems Institute, Den Dolech 2, Eindhoven, The Netherlands.Google Scholar
Henzinger, T. A., Horowitz, B. and Kirsch, C. M. (2003) Giotto: A Time-Triggered Language for Embedded Programming. Proceedings of the IEEE 91 (1)84–99.CrossRefGoogle Scholar
Hooman, J. and Verhoef, M. (2010) Formal semantics of a VDM extension for distributed embedded systems. In: Dams, D., Hannemann, U. and Steffen, M. (eds.) Concurrency, Compositionality, and Correctness, Essays in Honor of Willem-Paul de Roever. Springer-Verlag Lecture Notes in Computer Science 5930 142–161.CrossRefGoogle Scholar
Hooman, J., Mulyar, N. and Posta, L. (2004) Coupling Simulink and UML Models. In: Schnieder, B. and Tarnai, G. (eds.) Proceedings of Symposium FORMS/FORMATS 2004, Formal Methods for Automation and Safety in Railway and Automotive Systems, Braunschweig304–311.Google Scholar
Jones, C. B. and Middelburg, K. (1993) A typed logic of partial functions reconstructed classically. Technical Report 89, Department of Philosophy, Utrecht University.Google Scholar
Karnopp, D. C., Margolis, D. L. and Rosenberg, R. C. (2000) System Dynamics: Modeling and Simulation of Mechatronic Systems (third edition), Wiley-Interscience.Google Scholar
Kleijn, C. (2006) Modelling and Simulation of Fluid Power Systems with 20-sim. International Journal of Fluid Power 7 (3).Google Scholar
Kurita, T. and Nakatsugawa, Y. (2009) The Application of VDM++ to the Development of Firmware for a Smart Card IC Chip. International Journal of Software and Informatics 3 (2–3)343–355.Google Scholar
Larsen, P. G. and Fitzgerald, J. (2007) Recent Industrial Applications of VDM in Japan. In: Paul Boca, J. B. and Larsen, P. G. (eds.) FACS 2007 Christmas Workshop: Formal Methods in Industry, Electronic Workshops in Computing, British Computer Society.Google Scholar
Larsen, P. G. and Pawłowski, W. (1995) The Formal Semantics of ISO VDM-SL. Computer Standards and Interfaces 17 (5–6)585–602.CrossRefGoogle Scholar
Larsen, P. G., Fitzgerald, J. and Wolff, S. (2009) Methods for the Development of Distributed Real-Time Embedded Systems using VDM. International Journal of Software and Informatics 3 (2–3).Google Scholar
Larsen, P. G.et al. (2010) The Overture Initiative – Integrating Tools for VDM. ACM Software Engineering Notes 35 (1).CrossRefGoogle Scholar
Lee, E. A. and Zheng, H. (2007) Leveraging Synchronous Language Principles for Heterogeneous Modeling and Design of Embedded Systems. In: EMSOFT '07: Proceedings of the 7th ACM and IEEE international conference on Embedded software, ACM.Google Scholar
Myers, T., Dromey, G. and Fritzson, P. (2011) Comodeling: From Requirements to an Integrated Software/Hardware Model. IEEE Computer 44 (4)62–70.CrossRefGoogle Scholar
Nicolescu, G., Bouchhima, F. and Gheorghe, L. (2006) CODIS – A Framework for Continuous/Discrete Systems Co-Simulation. In: Cassandras, C. G., Giua, A., Seatzu, C. and Zaytoon, J. (eds.) Analysis and Design of Hybrid Systems, Elsevier 274–275.Google Scholar
Robinson, S. (2004) Simulation: The Practice of Model Development and Use, John Wiley and Sons.Google Scholar
Theelen, B.et al. (2007) Software/hardware engineering with the parallel object-oriented specification language. In: Proceedings of the ACM-IEEE International Conference on Formal Methods and Models for Codeesign (MEMOCODE), IEEE Computer Society 139–148.Google Scholar
Tudoret, S., Nadjm-Tehrani, S., Benveniste, A. and Strömberg, J.-E. (2000) Co-simulation of hybrid systems: Signal-simulink. In: Joseph, M. (ed.) Formal Techniques in Real-Time and Fault-Tolerant Systems 6th International Symposium, FTRTFT 2000. Springer-Verlag Lecture Notes in Computer Science 1926 134–151.CrossRefGoogle Scholar
Verhoef, M. (2009) Modeling and Validating Distributed Embedded Real-Time Control Systems, Ph.D. thesis, Radboud University Nijmegen.Google Scholar
Verhoef, M., Larsen, P. G. and Hooman, J. (2006) Modeling and Validating Distributed Embedded Real-Time Systems with VDM++. In: Misra, J., Nipkow, T. and Sekerinski, E. (eds.) FM 2006: Formal Methods. Springer-Verlag Lecture Notes in Computer Science 4085 147–162.CrossRefGoogle Scholar
Woodcock, J., Larsen, P. G., Bicarregui, J. and Fitzgerald, J. (2009) Formal Methods: Practice and Experience. ACM Computing Surveys 41 (4)1–36.CrossRefGoogle Scholar