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1. Proceedings of the 19th International Overture Workshop

Author

Macedo, Hugo Daniel, Thule, Casper, and Pierce, Ken

Subjects
Computer Science - Software Engineering
Abstract

This volume contains the papers presented at the 19th International Overture Workshop, which was held in an hybrid format: online and physically at Aarhus, Denmark on 22th October 2021. This event was the latest in a series of workshops around the Vienna Development Method (VDM), the open-source project Overture, and related tools and formalisms. VDM is one of the longest established formal methods for systems development. A lively community of researchers and practitioners has grown up in academia and industry around the modelling languages (VDM-SL, VDM++, VDM-RT, CML) and tools (VDMTools, Overture, VDM VSCode extension, Crescendo, Symphony, the INTO-CPS chain, and ViennaTalk). Together, these provide a platform for work on modelling and analysis technology that includes static and dynamic analysis, test generation, execution support, and model checking. This workshop provided updates on the emerging technology of VDM/Overture, including collaboration infrastructure, collaborative modelling and co-simulation for Cyber-Physical Systems.

Published
2021

2. RMQFMU: Bridging the Real World with Co-simulation Technical Report

Author

Frasheri, Mirgita, Ejersbo, Henrik, Thule, Casper, and Esterle, Lukas

Subjects
Computer Science - Robotics
Abstract

In this paper we present an experience report for the RMQFMU, a plug and play tool, that enables feeding data to/from an FMI2-based co-simulation environment based on the AMQP protocol. Bridging the co-simulation to an external environment allows on one side to feed historical data to the co-simulation, serving different purposes, such as visualisation and/or data analysis. On the other side, such a tool facilitates the realisation of the digital twin concept by coupling co-simulation and hardware/robots close to real-time. In the paper we present limitations of the initial version of the RMQFMU with respect to the capability of bridging co-simulation with the real world. To provide the desired functionality of the tool, we present in a step-by-step fashion how these limitations, and subsequent limitations, are alleviated. We perform various experiments in order to give reason to the modifications carried out. Finally, we report on two case-studies where we have adopted the RMQFMU, and provide guidelines meant to aid practitioners in its use., Comment: To be submitted in brief format to 19th overture workshop

Published
2021

3. The Incubator Case Study for Digital Twin Engineering

Author

Feng, Hao, Gomes, Cláudio, Thule, Casper, Lausdahl, Kenneth, Sandberg, Michael, and Larsen, Peter Gorm

Subjects
Electrical Engineering and Systems Science - Systems and Control
Abstract

To demystify the Digital Twin concept, we built a simple yet representative thermal incubator system. The incubator is an insulated box fitted with a heatbed, and complete with a software system for communication, a controller, and simulation models. We developed two simulation models to predict the temperature inside the incubator, one with two free parameters and one with four free parameters. Our experiments showed that the latter model was better at predicting the thermal inertia of the heatbed itself, which makes it more appropriate for further development of the digital twin. The hardware and software used in this case study are available open source, providing an accessible platform for those who want to develop and verify their own techniques for digital twins., Comment: 18 pages, 13 figures

Published
2021

7. Co-simulation of Continuous Systems: A Tutorial

Author

Gomes, Cláudio, Thule, Casper, Larsen, Peter Gorm, Denil, Joachim, and Vangheluwe, Hans

Subjects
Computer Science - Computational Engineering, Finance, and Science, Mathematics - Classical Analysis and ODEs, 65Y10, I.6.1, I.6.7
Abstract

Co-simulation consists of the theory and techniques to enable global simulation of a coupled system via the composition of simulators. Despite the large number of applications and growing interest in the challenges, the field remains fragmented into multiple application domains, with limited sharing of knowledge. This tutorial aims at introducing co-simulation of continuous systems, targeted at researchers new to the field.

Published
2018

8. Co-simulation: State of the art

Author

Gomes, Cláudio, Thule, Casper, Broman, David, Larsen, Peter Gorm, and Vangheluwe, Hans

Subjects
Computer Science - Systems and Control, 65Y10, I.6.1, I.6.7
Abstract

It is essential to find new ways of enabling experts in different disciplines to collaborate more efficient in the development of ever more complex systems, under increasing market pressures. One possible solution for this challenge is to use a heterogeneous model-based approach where different teams can produce their conventional models and carry out their usual mono-disciplinary analysis, but in addition, the different models can be coupled for simulation (co-simulation), allowing the study of the global behavior of the system. Due to its potential, co-simulation is being studied in many different disciplines but with limited sharing of findings. Our aim with this work is to summarize, bridge, and enhance future research in this multidisciplinary area. We provide an overview of co-simulation approaches, research challenges, and research opportunities, together with a detailed taxonomy with different aspects of the state of the art of co-simulation and classification for the past five years. The main research needs identified are: finding generic approaches for modular, stable and accurate coupling of simulation units; and expressing the adaptations required to ensure that the coupling is correct., Comment: 157 pages, about 30 figures

Published
2017

9. Verification of Co-simulation Algorithms Subject to Algebraic Loops and Adaptive Steps

Author

Hansen, Simon Thrane, Gomes, Cláudio, Palmieri, Maurizio, Thule, Casper, van de Pol, Jaco, Woodcock, Jim, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Lluch Lafuente, Alberto, editor, and Mavridou, Anastasia, editor

Published
2021
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10. Towards a Digital Twin - Modelling an Agricultural Vehicle

Author

Foldager, Frederik F., Thule, Casper, Balling, Ole, Larsen, PeterGorm, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, and Margaria, Tiziana, editor

Published
2021
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11. An FMI-Based Initialization Plugin for INTO-CPS Maestro 2

Author

Hansen, Simon Thrane, Thule, Casper, Gomes, Cláudio, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Cleophas, Loek, editor, and Massink, Mieke, editor

Published
2021
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12. Introducing Regression Tests and Upgrades to the INTO-CPS Application

Author

Talasila, Prasad, Sanjari, Armine, Villadsen, Kristoffer, Thule, Casper, Larsen, Peter Gorm, Macedo, Hugo Daniel, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Cleophas, Loek, editor, and Massink, Mieke, editor

Published
2021
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13. Collaborative Modelling and Co-simulation in Engineering and Computing Curricula

Author

Larsen, Peter Gorm, Macedo, Hugo Daniel, Gomes, Claudio Goncalves, Esterle, Lukas, Thule, Casper, Fitzgerald, John, Pierce, Kenneth, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Bruel, Jean-Michel, editor, Capozucca, Alfredo, editor, Mazzara, Manuel, editor, Meyer, Bertrand, editor, Naumchev, Alexandr, editor, and Sadovykh, Andrey, editor

Published
2020
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14. Generation of Co-simulation Algorithms Subject to Simulator Contracts

Author

Gomes, Cláudio, Thule, Casper, Lúcio, Levi, Vangheluwe, Hans, Larsen, Peter Gorm, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Camara, Javier, editor, and Steffen, Martin, editor

Published
2020
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15. Towards Reuse of Synchronization Algorithms in Co-simulation Frameworks

Author

Thule, Casper, Palmieri, Maurizio, Gomes, Cláudio, Lausdahl, Kenneth, Macedo, Hugo Daniel, Battle, Nick, Larsen, Peter Gorm, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Camara, Javier, editor, and Steffen, Martin, editor

Published
2020
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16. Migrating the INTO-CPS Application to the Cloud

Author

Macedo, Hugo Daniel, Rasmussen, Mikkel Bayard, Thule, Casper, Larsen, Peter Gorm, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Sekerinski, Emil, editor, Moreira, Nelma, editor, Oliveira, José N., editor, Ratiu, Daniel, editor, Guidotti, Riccardo, editor, Farrell, Marie, editor, Luckcuck, Matt, editor, Marmsoler, Diego, editor, Campos, José, editor, Astarte, Troy, editor, Gonnord, Laure, editor, Cerone, Antonio, editor, Couto, Luis, editor, Dongol, Brijesh, editor, Kutrib, Martin, editor, Monteiro, Pedro, editor, and Delmas, David, editor

Published
2020
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17. Towards a Static Check of FMUs in VDM-SL

Author

Battle, Nick, Thule, Casper, Gomes, Cláudio, Macedo, Hugo Daniel, Larsen, Peter Gorm, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Sekerinski, Emil, editor, Moreira, Nelma, editor, Oliveira, José N., editor, Ratiu, Daniel, editor, Guidotti, Riccardo, editor, Farrell, Marie, editor, Luckcuck, Matt, editor, Marmsoler, Diego, editor, Campos, José, editor, Astarte, Troy, editor, Gonnord, Laure, editor, Cerone, Antonio, editor, Couto, Luis, editor, Dongol, Brijesh, editor, Kutrib, Martin, editor, Monteiro, Pedro, editor, and Delmas, David, editor

Published
2020
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18. Distributed Co-simulation of Embedded Control Software Using INTO-CPS

Author

Pedersen, Nicolai, Lausdahl, Kenneth, Sanchez, Enrique Vidal, Thule, Casper, Larsen, Peter Gorm, Madsen, Jan, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Obaidat, Mohammad S., editor, Ören, Tuncer, editor, and Rango, Floriano De, editor

Published
2019
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19. Towards the Verification of Hybrid Co-simulation Algorithms

Author

Thule, Casper, Gomes, Cláudio, Deantoni, Julien, Larsen, Peter Gorm, Brauer, Jörg, Vangheluwe, Hans, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Mazzara, Manuel, editor, Ober, Iulian, editor, and Salaün, Gwen, editor

Published
2018
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20. Demo: Stabilization Technique in INTO-CPS

Author

Gomes, Cláudio, Thule, Casper, Lausdahl, Kenneth, Larsen, Peter Gorm, Vangheluwe, Hans, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Mazzara, Manuel, editor, Ober, Iulian, editor, and Salaün, Gwen, editor

Published
2018
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21. Co-simulation: The Past, Future, and Open Challenges

Author

Gomes, Cláudio, Thule, Casper, Deantoni, Julien, Larsen, Peter Gorm, Vangheluwe, Hans, Hutchison, David, Editorial Board Member, Kanade, Takeo, Editorial Board Member, Kittler, Josef, Editorial Board Member, Kleinberg, Jon M., Editorial Board Member, Mattern, Friedemann, Editorial Board Member, Mitchell, John C., Editorial Board Member, Naor, Moni, Editorial Board Member, Pandu Rangan, C., Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Terzopoulos, Demetri, Editorial Board Member, Tygar, Doug, Editorial Board Member, Weikum, Gerhard, Series Editor, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, and Margaria, Tiziana, editor

Published
2018
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39. Formally Verified FMI Enabled External Data Broker:Rabbitmq FMU

Author

Thule, Casper, Gomes, Cláudio, and Lausdahl, Kenneth G.

Abstract

Automated monitoring of deployed Cyber-physical Systems while they are operating can assist in detecting misbehavior. One way to achieve such monitoring is via co-simulation of a modelled system that corresponds to the deployed system. A necessary element in the realization of such a concept is data brokering between the systems. Our work addresses the topic of brokering external data into an Functional Mock-up Interface (FMI) 2.0 enabled co-simulation via a Functional Mock-up Unit (a simulation unit) called RabbitMQ FMU that outputs messages from an external message queue into the FMI enabled co-simulation.Our contribution includes a formal specification that captures the semantics of RabbitMQ FMU and ensures a maximum delay on the messages relayed to the co-simulation even through an unreliable network. This formal specification is then used to generate test cases that exercise all states and transitions of the formal specification. The implementation is then subjected to these test cases to verify that it is a refinement of the specification. The verification procedure is ongoing and currently the implementation has successfully been subjected to 1,539,246 tests. The RabbitMQ FMU provides a general and self-contained solution to brokering external data into and FMI-enabled co-simulation with guaranteed delays.

Published
2020
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42. The INtegrated TOolchain for Cyber-Physical Systems (INTO-CPS): a Guide

Author

Larsen, Peter Gorm, Fitzgerald, John, Woodcock, Jim, König, Christian, Basagiannis, Stylianos, Brosse, Etienne, Gomes, Claudio, Cabral, Jose, Macedo, Hugo Daniel, Thule, Casper, Sadovykh, Andrey, Zamfirescu, Constantin-Bala, Neghina, Mihai, Pierce, Ken, Gamble, Carl, and Payne, Richard

Published
2018

43. Demo : stabilization technique in INTO-CPS

Author

Gonçalves Gomes, Claudio Angelo, Thule, Casper, Lausdahl, Kenneth, Gorm Larsen, Peter, and Vangheluwe, Hans

Subjects
Computer. Automation
Abstract

Despite the large number of applications and growing interest in the challenges that co-simulation poses, the field is fragmented into multiple application domains, with limited sharing of knowledge. This demo promotes a deeper understanding of a well known stabilization feature in co-simulation, which is used in the INTO-CPS tool chain. We develop the techniques that explain the empirical results of instability of the double mass-spring-damper system, and how to the stabilization feature improves the results. Moreover, we show how the restrictions of the Functional Mock-up Interface Standard impacts stability.

Published
2018

44. Co-Simulation : A Survey

Author

Gomes, Claudio, Thule, Casper, Broman, David, Larsen, Peter Gorm, Vangheluwe, Hans, Gomes, Claudio, Thule, Casper, Broman, David, Larsen, Peter Gorm, and Vangheluwe, Hans

Abstract

Modeling and simulation techniques are today extensively used both in industry and science. Parts of larger systems are, however, typically modeled and simulated by different techniques, tools, and algorithms. In addition, experts from different disciplines use various modeling and simulation techniques. Both these facts make it difficult to study coupled heterogeneous systems. Co-simulation is an emerging enabling technique, where global simulation of a coupled system can be achieved by composing the simulations of its parts. Due to its potential and interdisciplinary nature, cosimulation is being studied in different disciplines but with limited sharing of findings. In this survey, we study and survey the state-of-the-art techniques for co-simulation, with the goal of enhancing future research and highlighting the main challenges. To study this broad topic, we start by focusing on discrete-event-based co-simulation, followed by continuous-time-based co-simulation. Finally, we explore the interactions between these two paradigms, in hybrid co-simulation. To survey the current techniques, tools, and research challenges, we systematically classify recently published research literature on co-simulation, and summarize it into a taxonomy. As a result, we identify the need for finding generic approaches for modular, stable, and accurate coupling of simulation units, as well as expressing the adaptations required to ensure that the coupling is correct., QC 20180808

Published
2018
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45. INTO-CPS tool chain user manual

Author

Bandur, Victor, Larsen, Peter Gorm, Lausdahl, Kenneth, Thule, Casper, Gamble, Carl, Payne, Richard, Pop, Adrian, Brosse, Etienne, Brauer, Jörg, Lapschies, Florian, Groothuis, Marcel, Bokhove, Tom, Kleijn, Christian, and Couto, Luis Diogo

Published
2017

47. Co-Simulation

Author

Gomes, Cláudio, primary, Thule, Casper, additional, Broman, David, additional, Larsen, Peter Gorm, additional, and Vangheluwe, Hans, additional

Published
2018
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