Foundations of Multi-Paradigm Modelling for Cyber-Physical Systems

✍ Scribed by Paulo Carreira (editor), Vasco Amaral (editor), Hans Vangheluwe (editor)

• Publisher: Springer
• Year: 2020
• Tongue: English
• Leaves: 298
• Category: Library

✦ Synopsis

This open access book coherently gathers well-founded information on the fundamentals of and formalisms for modelling cyber-physical systems (CPS). Highlighting the cross-disciplinary nature of CPS modelling, it also serves as a bridge for anyone entering CPS from related areas of computer science or engineering.

Truly complex, engineered systems―known as cyber-physical systems―that integrate physical, software, and network aspects are now on the rise. However, there is no unifying theory nor systematic design methods, techniques or tools for these systems. Individual (mechanical, electrical, network or software) engineering disciplines only offer partial solutions. A technique known as Multi-Paradigm Modelling has recently emerged suggesting to model every part and aspect of a system explicitly, at the most appropriate level(s) of abstraction, using the most appropriate modelling formalism(s), and then weaving the results together to form a representation of the system. If properlyapplied, it enables, among other global aspects, performance analysis, exhaustive simulation, and verification.

This book is the first systematic attempt to bring together these formalisms for anyone starting in the field of CPS who seeks solid modelling foundations and a comprehensive introduction to the distinct existing techniques that are multi-paradigmatic. Though chiefly intended for master and post-graduate level students in computer science and engineering, it can also be used as a reference text for practitioners.

✦ Table of Contents

Foreword
Preface
Acknowledgements
Contents
List of Contributors
Multi-Paradigm Modelling for Cyber-Physical Systems: Foundations
Introduction
Understanding Cyber-Physical Systems
Systems and their models
Types of systems
What are Cyber-Physical Systems?
Sources of Engineering Complexity
Modeling of a Cyber-Physical System
What is a Model?
Multiple Formalisms in CPS
Multi-Paradigm Modelling of CPS
What is a Paradigm?
The dimensions of Multi-Paradigm Modelling
A foundation for MPM4CPS
Modelling physical components
Joining the Physical' with theCyber'
Tooling support for MPM4CPS
Summary
Bond Graphs: A Unifying Framework for Modelling of Physical Systems
Learning Objectives
Introduction
Bond-Graph Examples
Foundation of Bond Graphs
Starting Points
Bonds and Ports
Bond-Graph Elements
Storage Elements
Resistors
Sources
Transformers and Gyrators
Junctions
Positive Orientation
Duality and Dual Domains
Systematic Procedure to Derive a Bond-Graph Model
The Eight Steps of the Systematic Procedure
Illustration of the Systematic Procedure
Causal Analysis
Causal Constraints
Causal Analysis Procedure
Model Insight via Causal Analysis
Order of the Set State Equations
Matrix Form of Linear Systems
Generation of Equations
Expansion to Block Diagrams
Simulation
Summary
Literature and Further Reading
Self-Assessment
Acknowledgements
Modelica: Equation-Based, Object-Oriented Modelling of Physical Systems
Learning Objectives
Introduction
Getting Started with Modelica
Variables and Predefined Types
Comments
Constants
Variability
Default Start Values
Object-Oriented Mathematical Modelling
Classes and Instances
Inheritance
Generic Classes
Equations
Repetitive Equation Structures
Partial Differential Equations
Acausal Physical modelling
The Modelica Software Component Model
Components
Connection Diagrams
Connectors and Connector Classes
Partial Classes
Reuse of Partial Classes
Component Library Design and Use
Resistor
Capacitor
Inductor
Voltage Source
Ground
The Simple Circuit Model
Arrays
Algorithmic Constructs
Algorithm Sections and Assignment Statements
Statements
Functions
Operator Overloading and Complex Numbers
External Functions
Algorithms Viewed as Functions
Discrete Event and Hybrid modelling
Synchronous Clocks and State Machines
Modularity Facilites
Packages
Annotations
Naming Conventions
Modelica Standard Library
Implementation and Execution of Modelica
Hand Translation of the Simple Circuit Model
Transformation to State Space Form
Solution Method
Tool Interoperability through Functional Mockup Interface
Summary
Literature and Further Reading
Self-assessment
Acknowledgements
Causal-Block Diagrams: A Family of Languages for Causal Modelling of Cyber-Physical Systems
Learning Objectives
Introduction
Background
Models of Physical Systems
Discrete Time Models
Algebraic Causal Block Diagrams
Syntax
Semantics
Discrete-time CBDs
Syntax
Semantics
Continuous-time CBDs
Syntax
Semantics
Advanced Concepts and Extensions
Approximation Error
Other Numerical Methods
Adaptive-Step Size
Logic Blocks
Global Error Euler Method
Summary
Literature and Further Reading
Self Assessment
Acknowledgements
DEVS: Discrete-Event Modelling and Simulation for Performance Analysis of Resource-Constrained Systems
Learning Objectives
Introduction
Atomic DEVS models
Autonomous Model
Autonomous Model with Output
Interruptable Model
Coupled DEVS Models
Basic Coupling
Input and Output
Tie-breaking
Translation Functions
Closure Under Coupling
The DEVS Abstract Simulator
Application to Queueing Systems
Problem Description
Description in DEVS
Performance Analysis
DEVS Variants
Parallel DEVS
Dynamic Structure DEVS
Cell-DEVS
Other Variants
Summary
Literature and Further Reading
Self-Assessment
Acknowledgements
Statecharts: A Formalism to Model, Simulate and Synthesize Reactive and Autonomous Timed Systems
Learning Objectives
Introduction
Background
Running Example
Discrete-Event Abstraction
Process
Modelling with Statecharts
States and Transitions
Composite States
Orthogonal Regions
History
Syntactic Sugar
Full Statechart Model
Detailed Semantics
Testing Statecharts
Deploying Statecharts
Advanced Topics
Semantic Variations
Execution Platforms
Dynamic Structure
Summary
Literature and Further Reading
Self Assessment
Acknowledgements
Petri Nets: A Formal Language to Specify and Verify Concurrent Non-Deterministic Event Systems
Learning Objectives
Introduction
Modelling Concurrency
Petri Nets
Common Petri net patterns
Formal syntax and semantics
Deduction Based on Rules
Reachability Graph
Monotony
Properties of Petri Nets
Marking Properties
Sequence Properties
Invariants
Formal Definition of Invariants
Computing P-invariants
Using Invariants for Proving Properties
Techniques for Model Checking
Data manipulation in Petri nets
Drone Controller
Formalising High-level Petri nets
Other High-level nets
Combining Model Semantics and Simulation
PNFMU Formalisation
PNFMU Example
PNFMU Composition
Advanced Composition Mechanisms
Tooling
Tools for Petri net Modelling and Verification
Evaluation of Model Checking Techniques
Summary
Literature and Further Reading
Self Assessment
AADL: A Language to Specify the Architecture of Cyber-Physical Systems
Learning Objectives
Introduction
Increasing Systems Complexity and Unaffordable Development Costs
Mismatched Assumptions in Collaborative Engineering
System Architecture Virtual Integration: Integrate, Analyze then Build
Architecture-Centric Authoritative Source of Truth
Organisation of the Chapter
AADL Overview
CPS Running Example
The Development Process
Modelling the Line Follower Robot with AADL
System Overview
Operational Concepts
Environmental Assumptions
Functional Architecture
Physical Plant Model
Deployment
Analyses
Code Generation
Summary
Literature and Further Reading
Self Assessment
Acknowledgements
FTG+PM: Describing Engineering Processes in Multi-Paradigm Modelling
Learning Objectives
Introduction
Model-based Systems Engineering
Development Lifecycle Models
Waterfall Model
V Model
Spiral Model
Agile Model
Modelling the Design Process
Rationale
What to model?
Reasoning about maturity
Activities 2.0 for modelling processes
The tool perspective: Formalism Transformation Graph
FTG+PM: Formalism Transformation Graph and Process Model
Reasoning about appropriateness of formalisms and heterogeneous modelling
Orchestrating Processes
Summary
Literature and Further Reading
Self-Assessment
Acknowledgements
Bibliography