Skip to main content

Industrial Application of Co-modelling and Co-simulation Technology

  • Chapter
  • First Online:
Book cover Collaborative Design for Embedded Systems

Abstract

We describe three industrial applications of the Crescendo collaborative modelling and co-simulation technology, including a dredging excavator system, a high-speed document handling system, and an experimental self-balancing scooter. In each case we consider the observations made by the initial industrial users of the technology, including issues detected only as a result of co-simulation and not within the mono-disciplinary modelling activities. These include early detection of design issues, reducing the number of overall design iterations, as well as improved communication within design teams.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 54.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Notes

  1. 1.

    The Neopost document handling system also makes use of pinches for transporting the paper.

  2. 2.

    Similar paper detectors are used in the Neopost document handling system.

  3. 3.

    For the Neopost document handling system, similar requirements are present for preventing skewing of paper when folding.

References

  1. Alexander C, Ishikawa S, Silverstein M (1977) A pattern language: towns, buildings, construction. Oxford University Press, New York

    Google Scholar 

  2. Alur R, Courcoubetis C, Halbwachs N, Henzinger TA, Ho PH, Nicollin X, Olivero A, Sifakis J, Yovine S (1995) The algorithmic analysis of hybrid systems. Theor Comput Sci 138:3–34

    Article  MATH  Google Scholar 

  3. Ambrosius F (2007) Modelling and distributed controller design of the BodeRC paper-path setup. Master’s thesis, Department of Electrical Engineering, Mathematics and Computer Science, University of Twente, appeared as Technical Report 003CE2007

    Google Scholar 

  4. van Amerongen J (2010) Dynamical systems for creative technology. Controllab Products, Enschede

    Google Scholar 

  5. Ashenden PJ (2001) The designer’s guide to VHDL, 2nd edn. Morgan Kaufmann Publishers, San Francisco

    Google Scholar 

  6. Avizienis A, Laprie JC, Randell B, Landwehr C (2004) Basic concepts and taxonomy of dependable and secure computing. IEEE Trans Dependable Secure Comput 1:11–33

    Article  Google Scholar 

  7. Bae K, Ölveczky PC, Feng TH, Tripakis S (2009) Verifying ptolemy ii discrete-event models using real-time maude. In: Proceedings of the 11th international conference on formal engineering methods: formal methods and software engineering, ICFEM ’09. Springer, Berlin, pp 717–736

    Google Scholar 

  8. Baheti R, Gill H (2011) Cyber-physical systems. In: Samad T, Annaswamy A (eds) The impact of control technology. IEEE Control Society, pp 161–166. Available at www.ieeecss.org

  9. Baker RE (2005) An approach for dealing with dynamic multi-attribute decision problems. Ph.D. thesis, Department of Computer Science, University of York, UK

    Google Scholar 

  10. Banerjee A, Venkatasubramanian KK, Mukherjee T, Gupta SKS (2012) Ensuring safety, security, and sustainability of mission-critical cyber-physical systems. Proc IEEE 100(1):283–299. doi:10.1109/JPROC.2011.2165689

    Article  Google Scholar 

  11. Banks J, Carson J, Nelson BL, Nicol D (2004) Discrete-event system simulation, 4th edn. Prentice Hall, Upper Saddle River

    Google Scholar 

  12. Berkenkötter K, Bisanz S, Hannemann U, Peleska J (2004) Executable hybriduml and its application to train control systems. In: Ehrig H, Damm W, Desel J, Grosse-Rhode M, Reif W, Schnieder E, Westkämper E (eds) SoftSpez Final Report. Lecture notes in computer science, vol 3147. Springer, Berlin, pp 145–173

    Google Scholar 

  13. Blochwitz T, Otter M, Akesson J, Arnold M, Clauss C, Elmqvist H, Friedrich M, Junghanns A, Mauss J, Neumerkel D, Olsson H, Viel A (2012) The functional mockup interface 2.0: the standard for tool independent exchange of simulation models. In: Proceedings of the 9th international Modelica conference, Munich

    Google Scholar 

  14. Bonabeau E (2002) Agent-based modeling: methods and techniques for simulating human systems. Proc Natl Acad Sci USA 99(Suppl 3):7280–7287. doi:10.1073/pnas.082080899

    Article  Google Scholar 

  15. Booch G, Jacobson I, Rumbaugh J (1999) The unified modelling language user guide. Addison-Wesley, Reading

    Google Scholar 

  16. Broenink JF (1997) Modelling, simulation and analysis with 20-Sim. J A Spec Issue CACSD 38(3):22–25

    Google Scholar 

  17. Broenink JF, Ni Y, Groothuis MA (2010) On model-driven design of robot software using co-simulation. In: Menegatti E (ed) Proceedings of SIMPAR 2010 workshops international conference on simulation, modeling, and programming for autonomous robots. TU Darmstadt, Darmstadt, pp 659–668

    Google Scholar 

  18. Broman D, Derler P, Eidson J (2013) Temporal issues in cyber-physical systems. J Indian Inst Sci 93(3):389–402

    Google Scholar 

  19. Broy M, Cengarle MV, Geisberger E (2012) Cyber-physical systems: imminent challenges. In: Calinescu R, Garlan D (eds) Large-scale complex IT systems. Development, operation and management. Lecture notes in computer science, vol 7539. Springer, Berlin, pp 1–28. doi:10.1007/978-3-642-34059-8

  20. Bruun H, Damm F, Hansen BS (1991) An approach to the static semantics of VDM-SL. In: VDM ’91: formal software development methods, VDM Europe. Springer, Berlin, pp 220–253

    Google Scholar 

  21. Cervin A, Henriksson D, Lincoln B, Eker J, Arzen K (2003) How does control timing affect performance? Analysis and simulation of timing using jitterbug and truetime. IEEE Control Syst 23(3):16–30. doi:10.1109/MCS.2003.1200240

    Article  Google Scholar 

  22. Chiodo M, Giusto P, Jurecska A, Hsieh HC, Sangiovanni-Vincentelli A, Lavagno L (1994) Hardware-software codesign of embedded systems. IEEE Micro 14:26–36

    Article  Google Scholar 

  23. Christiansen MP, Larsen M, Jørgensen RN (2013) Collaborative model based development of adaptive controller settings for a load-carrying vehicle with changing loads. In: Bochtis DD, Sørensen CAG (eds) CIOSTA XXXV conference

    Google Scholar 

  24. Coleman JW, Lausdahl KG, Larsen PG (2012) D3.4b—co-simulation semantics. Tech. Rep., The DESTECS Project (CNECT-ICT-248134)

    Google Scholar 

  25. Corporaal H (2006) Embedded system design. In: Karelse F (ed) Progress White Papers 2006. STW, Utrecht, pp 7–27

    Google Scholar 

  26. Coverity (2012) Coverity Scan: 2012 Open Source Report. Tech. Rep., Coverity

    Google Scholar 

  27. Dawes J (1991) The VDM-SL reference guide. Pitman, London. ISBN 0-273-03151-1

    Google Scholar 

  28. DESTECS09 (2009) DESTECS (Design support and tooling for embedded control software). European Research Project

    Google Scholar 

  29. Eidson J, Lee E, Matic S, Seshia S, Zou J (2012) Distributed real-time software for cyber-physical systems. Proc IEEE 100(1):45–59. doi:10.1109/JPROC.2011.2161237

    Article  Google Scholar 

  30. Eker J, Janneck J, Lee E, Liu J, Liu X, Ludvig J, Neuendorffer S, Sachs S, Xiong Y (2003) Taming heterogeneity—the ptolemy approach. Proc IEEE 91(1):127–144

    Article  Google Scholar 

  31. European Cooperation for Space Standardization (ECSS) (2009) ECSS Std ECSS-E-ST-40C Space engineering—software

    Google Scholar 

  32. European Cooperation for Space Standardization (ECSS) (2009) ECSS Std ECSS-Q-ST-80C Space product assurance—software product assurance

    Google Scholar 

  33. Eveleens JL, Verhoef C (2010) The rise and fall of the chaos report figures. IEEE Software, pp 30–36

    Google Scholar 

  34. Fitzgerald J, Larsen PG (1998) Modelling systems—practical tools and techniques in software development. Cambridge University Press, Cambridge. ISBN 0-521-62348-0

    MATH  Google Scholar 

  35. Fitzgerald J, Larsen PG (2009) Modelling systems—practical tools and techniques in software development, 2nd edn. Cambridge University Press, Cambridge. ISBN 0-521-62348-0

    Book  MATH  Google Scholar 

  36. Fitzgerald J, Larsen PG, Mukherjee P, Plat N, Verhoef M (2005) Validated designs for object-oriented systems. Springer, New York

    MATH  Google Scholar 

  37. Fitzgerald JS, Larsen PG, Verhoef M (2008) Vienna development method. In: Wah B (ed) Wiley encyclopedia of computer science and engineering. Wiley, Chichester

    Google Scholar 

  38. Fritzson P, Engelson V (1998) Modelica—a unified object-oriented language for system modelling and simulation. In: ECCOP ’98: proceedings of the 12th European conference on object-oriented programming. Springer, Berlin, pp 67–90

    Google Scholar 

  39. Gamma E, Helm R, Johnson R, Vlissides J (1995) Design patterns. Elements of reusable object-oriented software. Addison-Wesley professional computing series. Addison-Wesley, Reading

    Google Scholar 

  40. Gupta SK, Mukherjee T, Varsamopoulos G, Banerjee A (2011) Research directions in energy-sustainable cyber-physical systems. Sustain Comput Inform Syst 1(1):57–74

    Google Scholar 

  41. Hardebolle C, Boulanger F (2009) Exploring multi-paradigm modeling techniques. SIMULATION Trans Soc Model Simul Int 85(11/12):688–708

    Article  Google Scholar 

  42. Heemels M, Muller G (2007) Boderc: model-based design of high-tech systems, 2nd edn. Embedded Systems Institute, Eindhoven

    Google Scholar 

  43. IEEE (2000) IEEE 100 the authoritative dictionary of IEEE standards terms, 7th edn. IEEE Std 100-2000. doi:10.1109/IEEESTD.2000.322230

    Google Scholar 

  44. IEEE (2008) International Standard ISO/IEC 12207:2008(E), IEEE Std 12207-2008 (Revision of IEEE/EIA 12207.0-1996) Systems and software engineering—software life cycle processes. ISO/IEC and IEEE Computer Society

    Google Scholar 

  45. IEEE (2008) International Standard ISO/IEC 15288:2008(E), IEEE Std 15288-2008 (Revision of IEEE Std 15288-2004) Systems and software engineering—system life cycle processes. ISO/IEC and IEEE Computer Society

    Google Scholar 

  46. Jackson D (2009) A direct path to dependable software. Commun ACM 52(4):78–88. doi:10.1145/1498765.1498787

    Article  Google Scholar 

  47. Jensen J, Chang D, Lee E (2011) A model-based design methodology for cyber-physical systems. In: 2011 7th international wireless communications and mobile computing conference (IWCMC), pp 1666–1671. doi:10.1109/IWCMC.2011.5982785

    Google Scholar 

  48. Johnson CW (2005) The natural history of bugs: using formal methods to analyse software related failures in space missions. In: Fitzgerald J, Hayes IJ, Tarlecki A (eds) FM 2005: formal methods. Lecture notes in computer science, vol 3582. Springer, Berlin, pp 9–25

    Chapter  Google Scholar 

  49. Johnson J (2006) My life is failure. Standish Group International, co-author of the original 1994 CHAOS report

    Google Scholar 

  50. Jones CB (1990) Systematic software development using VDM, 2nd edn. Prentice-Hall International, Englewood Cliffs. ISBN 0-13-880733-7

    MATH  Google Scholar 

  51. JPL Special Review Board (2000) Report on the loss of the Mars Polar Lander and Deep Space 2 missions. Tech. Rep. JPL D-18709. Jet Propulsion Laboratory

    Google Scholar 

  52. Karnopp D, Rosenberg R (1968) Analysis and simulation of multiport systems: the bond graph approach to physical system dynamic. MIT Press, Cambridge

    Google Scholar 

  53. Kleijn C (2009) 20-sim 4.1 reference manual, 1st edn. Controllab Products B.V., Enschede. ISBN 978-90-79499-05-2

    Google Scholar 

  54. Kleijn C, Visser P, Groen F (2012) D3.5—extension to Matlab/Simulink. Tech. Rep., The DESTECS Project (CNECT-ICT-248134)

    Google Scholar 

  55. Kopetz H, Bauer G (2003) The time-triggered architecture. Proc IEEE 91(1):112–126

    Article  Google Scholar 

  56. Larsen PG, Battle N, Ferreira M, Fitzgerald J, Lausdahl K, Verhoef M (2010) The overture initiative—integrating tools for VDM. SIGSOFT Softw Eng Notes 35(1):1–6

    Article  Google Scholar 

  57. Larsen PG, Lausdahl K, Battle N (2010) Combinatorial testing for VDM. In: Proceedings of the 2010 8th IEEE international conference on software engineering and formal methods, SEFM ’10. IEEE Computer Society, Washington, pp 278–285. ISBN 978-0-7695-4153-2

    Google Scholar 

  58. Larsen PG, Wolff S, Battle N, Fitzgerald J, Pierce K (2010) Development process of distributed embedded systems using vdm. Tech. Rep. TR-2010-02, The Overture Open Source Initiative

    Google Scholar 

  59. Larsen PG, Lausdahl K, Battle N, Fitzgerald J, Wolff S, Sahara S (2013) VDM-10 language manual. Tech. Rep. TR-001, The Overture Initiative

    Google Scholar 

  60. Larsen PG, Lausdahl K, Coleman J, Wolff S, Kleijn C, Groen F (2013) Crescendo tool support: user manual. Tech. Rep. TR-001, The Crescendo Initiative

    Google Scholar 

  61. Lausdahl K, Coleman JW, Larsen PG (2013) Semantics of the VDM real-time dialect. ECE-TR-13, Aarhus University, Aarhus, April 2013

    Google Scholar 

  62. Lee E, Seshia S (2011) Introduction to embedded systems, a cyber-physical systems approach. University of Berkeley, Berkeley. ISBN 978-0-557-70857-4

    Google Scholar 

  63. Lee EA (2008) Cyber physical systems: design challenges. Tech. Rep. UCB/EECS-2008-8, EECS Department, University of California, Berkeley

    Google Scholar 

  64. Lee EA (2009) Computing needs time. Commun ACM 52(5):70–79

    Article  Google Scholar 

  65. Lee EA (2010) CPS foundations. In: Proceedings of the 47th design automation conference, DAC ’10. ACM, New York, pp 737–742. doi:10.1145/1837274.1837462

    Google Scholar 

  66. Lee I, Sokolsky O, Chen S, Hatcliff J, Jee E, Kim B, King A, Mullen-Fortino M, Park S, Roederer A, Venkatasubramanian K (2012) Challenges and research directions in medical cyber-physical systems. Proc IEEE 100(1):75–90. doi:10.1109/JPROC.2011.2165270

    Article  Google Scholar 

  67. Lions JL, Lübeck L, Fauquembergue JL, Kahn G, Kubbat W, Levedag S, Mazzini L, Merle D, O’Halloran C (1996) ARIANE 5—flight 501 failure—report by the inquiry board. Tech. Rep., European Space Agency

    Google Scholar 

  68. Liu J (1998) Continuous time and mixed-signal simulation in ptolemy ii. Tech. Rep. UCB/ERL M98/74, EECS Department, University of California, Berkeley

    Google Scholar 

  69. Magureanu G, Gavrilescu M, Pescaru D (2013) Validation of static properties in unified modeling language models for cyber physical systems. J Zhejiang Univ Sci C 14(5):332–346. doi:10.1631/jzus.C1200263

    Article  Google Scholar 

  70. Maier MW (1996) Architecting principles for systems-of-systems. In: Sixth international symposium of the international council on systems engineering, INCOSE

    Google Scholar 

  71. Margaria T, Schätz B, Verhoef M (2006) Formal methods going mainstream: costs, benefits, experiences. BCS-FACS FACTS 2006(2):34–38, report on the ForTIA Industry Day at FM’05

    Google Scholar 

  72. Marwedel P (2010) Embedded system design—embedded systems foundations of cyber-physical systems. Springer, Berlin

    Google Scholar 

  73. Mazzara M, Bhattacharyya A (2010) On modelling and analysis of dynamic reconfiguration of dependable real-time systems. In: 2010 third international conference on dependability (DEPEND), pp 173–181. doi:10.1109/DEPEND.2010.33

    Google Scholar 

  74. Miclea L, Sanislav T (2011) About dependability in cyber-physical systems. In: Design test symposium (EWDTS), 2011 9th East-West, pp 17–21. doi:10.1109/EWDTS.2011.6116428

    Google Scholar 

  75. Moore GE (1965) Cramming more components onto integrated circuits. Electronics 38(8):114–117

    Google Scholar 

  76. Nielsen CB (2010) Dynamic reconfiguration of distributed systems in VDM-RT. Master’s thesis, Aarhus University

    Google Scholar 

  77. Plotkin GD (1981) A structural approach to operational semantics. Tech. Rep. DAIMI FN-19, Aarhus University

    Google Scholar 

  78. Plotkin GD (2004) A structural approach to operational semantics. J Logic Algebraic Program 60–61:17–139

    MathSciNet  Google Scholar 

  79. Ptolemaeus C (ed) (2014) System design, modeling, and simulation using ptolemy II. Ptolemy.org

    Google Scholar 

  80. Pumfrey D (1999) The principled design of computer system safety analyses. Ph.D. thesis, Department of Computer Science, University of York

    Google Scholar 

  81. Rajkumar R, Lee I, Sha L, Stankovic J (2010) Cyber-physical systems: the next computing revolution. In: Design automation conference (DAC), 2010 47th ACM/IEEE, pp 731–736

    Google Scholar 

  82. Rational Software Corporation (1998) Rational unified process—best practices for software development teams

    Google Scholar 

  83. Robinson S (2004) Simulation: the practice of model development and use. Wiley, New York

    Google Scholar 

  84. Romanovsky A, Thomas M (eds) (2013) Industrial deployment of system engineering methods providing high dependability and productivity. Springer, Berlin. ISBN 978-3-642-33169-5

    Google Scholar 

  85. Rushby J (1989) Kernels for safety? In: Safe and secure computing systems, Blackwell Scientific Publications, Oxford, pp 210–220

    Google Scholar 

  86. Safety and Health Council of the Chemical Industries Association Ltd (1977) A guide to hazard and operability studies

    Google Scholar 

  87. Friedenthal S, Moore A, Steiner R (2011) A practical guide to SysML, 2nd edn. Morgan Kaufmann OMG Press, Waltham. ISBN: 978-0-12-385206-9

    Google Scholar 

  88. Sangiovanni-Vincentelli A (2006) Successive refinements of communication functions and architectures in system design. In: Design automation and test in Europe, hot topic session—network the next “Big Idea” in design?

    Google Scholar 

  89. Sanwal M, Hasan O (2013) Formal verification of cyber-physical systems: coping with continuous elements. In: Murgante B, Misra S, Carlini M, Torre C, Nguyen HQ, Taniar D, Apduhan B, Gervasi O (eds) Computational science and its applications—ICCSA 2013. Lecture notes in computer science, vol 7971. Springer, Berlin, pp 358–371. doi:10.1007/978-3-642-39637-39

    Chapter  Google Scholar 

  90. Schirner G, Erdogmus D, Chowdhury K, Padir T (2013) The future of human-in-the-loop cyber-physical systems. Computer 46(1):36–45

    Article  Google Scholar 

  91. Sztipanovits J, Koutsoukos X, Karsai G, Kottenstette N, Antsaklis P, Gupta V, Goodwine B, Baras J, Wang S (2012) Toward a science of cyber-physical system integration. Proc IEEE 100(1):29–44. doi:10.1109/JPROC.2011.2161529

    Article  Google Scholar 

  92. Taguchi G (1987) System of experimental design, vols 1 and 2. UNIPUB/Krass International Publications, New York

    Google Scholar 

  93. Thomas D, Moorby P (2008) The Verilog hardware description language, 5th edn. Springer, Berlin

    MATH  Google Scholar 

  94. Trapp M, Schneider D, Liggesmeyer P (2013) A safety roadmap to cyber-physical systems. In: Münch J, Schmid K (eds) Perspectives on the future of software engineering. Springer, Berlin, pp 81–94. doi:10. 1007∕978-3-642-37395-46

    Google Scholar 

  95. Vangheluwe HL, de Lara J, Mosterman PJ (2002) An introduction to multi-paradigm modelling and simulation. In: Barros F, Giambiasi N (eds) Proceedings of the AIS’2002 conference (AI, Simulation and Planning in High Autonomy Systems), Lisboa, Portugal, pp 9–20

    Google Scholar 

  96. Verhoef M (2009) Modeling and validating distributed embedded real-time control systems. Ph.D. thesis, Radboud University Nijmegen

    Google Scholar 

  97. Verhoef M, Bos B, van Eijk P, Remijnse J, Visser E, De Paepe M, De Witte Y, Rombaut K, Van Lembergen R (2012) Industrial case studies—final report. DESTECS Deliverable D4.3, The DESTECS Project (CNECT-ICT-248134)

    Google Scholar 

  98. Wan K, Hughes D, Man KL, Krilavicius T (2010) Composition challenges and approaches for cyber physical systems. In: 2010 IEEE international conference on networked embedded systems for enterprise applications (NESEA), pp 1–7. doi:10.1109/NESEA.2010.5678065

    Google Scholar 

  99. Wang G, Liu Q, Wu J (2010) Hierarchical attribute-based encryption for fine-grained access control in cloud storage services. In: Proceedings of the 17th ACM conference on computer and communications security. ACM, New York, pp 735–737

    Google Scholar 

  100. Woodcock J, Larsen PG, Bicarregui J, Fitzgerald J (2009) Formal methods: practice and experience. ACM Comput Surv 41(4):1–36

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Marcel Verhoef .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Verhoef, M., Larsen, P.G. (2014). Industrial Application of Co-modelling and Co-simulation Technology. In: Fitzgerald, J., Larsen, P., Verhoef, M. (eds) Collaborative Design for Embedded Systems. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-54118-6_11

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-54118-6_11

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-54117-9

  • Online ISBN: 978-3-642-54118-6

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics