Abstract
Cyber-physical systems (CPSs) are often treated modularly to tackle both complexity and heterogeneity; and their validation may be done modularly by co-simulation: the coupling of the individual subsystem simulations. This modular approach underlies the FMI standard. This paper presents an approach to verify both healthiness and well-formedness of an architectural design, expressed using a profile of SysML, as a prelude to FMI co-simulation. This checks the conformity of component connectors and the absence of algebraic loops, necessary for co-simulation convergence. Verification of these properties involves theorem proving and model-checking using: Fragmenta, a formal theory for representing typed visual models, with its mechanisation in the Isabelle/HOL proof assistant, and the CSP process algebra and its FDR3 model-checker. The paper’s contributions lie in: a SysML profile for architectural modelling supporting multi-modelling and co-simulation; our approach to check the adequacy of a SysML model for co-simulation using theorem proving and model-checking; our verification and transformation workbench for typed visual models based on Fragmenta and Isabelle; an approach to detect algebraic loops using CSP and FDR3; and a comparison of approaches to the detection of algebraic loops.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
Notes
- 1.
A local check that ensures the compositionality of Fragmenta’s union operator.
- 2.
Available at https://github.com/namalio/Fragmenta.
- 3.
Such membership predicates are represented in Isabelle as functions to booleans and they capture the well-formedness constraints associated with a Fragmenta set.
- 4.
The INTO-CPS project aims to create an integrated “tool chain” for comprehensive model-based design of CPSs. For further information, see http://into-cps.au.dk/.
- 5.
Available from http://forge.modelio.org/projects/intocps-modelio34.
- 6.
- 7.
- 8.
A Java library of graph algorithms – https://github.com/jgrapht/jgrapht.
- 9.
A standard for graphs exchange that enables a direct representation of PDGs – http://graphml.graphdrawing.org/.
- 10.
The Isabelle file that performs the generation, the actual generated files, and the Java code that runs the three approaches, can be found at http://bit.ly/1WKTIC7.
- 11.
It is a non-parametric test that compares the two sampled distributions without assuming that they follow the normal distribution.
References
Amalio, N., Cavalcanti, A., König, C., Woodcock, J.: Foundations for FMI co-modelling. Technical report, INTO-CPS Deliverable, D2.1d, December 2015
Amálio, N., de Lara, J., Guerra, E.: FRAGMENTA: a theory of fragmentation for MDE. In: MODELS 2015. IEEE (2015)
Amalio, N., Payne, R., Cavalcanti, A., Brosse, E.: Foundations of the SysML profile for CPS modelling. Technical report, INTO-CPS Deliverable, D2.1a, December 2015
Blochwitz, T., Otter, M., Akesson, J., Arnold, M., Clauss, C., Elmqvist, H., Friedrich, M., Junghanns, A., Mauss, J., Neumerkel, D., Olsson, H., Viel, A.: The functional mockup interface 2.0: the Standard for tool independent exchange of simulation models. In: Modelica Conference, Munich, Germany (2012)
Blochwitz, T.: Functional mock-up interface for model exchange and co-simulation, July 2014. https://www.fmi-standard.org/downloads (Blochwitz, T. (ed.))
Broman, D., Brooks, C., Greenberg, L., Lee, E., Masin, M., Tripakis, S., Wetter, M.: Determinate composition of FMUs for co-simulation. In: EMSOFT (2013)
Dragomir, I., Preoteasa, V., Tripakis, S.: Compositional semantics and analysis of hierarchical block diagrams. In: Bošnacki, D., Wijs, A. (eds.) SPIN 2016. LNCS, vol. 9641, pp. 38–56. Springer, Heidelberg (2016). doi:10.1007/978-3-319-32582-8_3
Ehrig, H., Ehrig, K., Prange, U., Taentzer, G.: Fundamentals of Algebraic Graph Transformation. Springer, Heidelberg (2006)
Feldman, Y., Greenberg, L., Palachi, E.: Simulating rhapsody SysML blocks in hybrid models with FMI. In: Modelica Conference, pp. 43–52 (2014)
Fitzgerald, J., Gamble, C., Payne, R., Pierce, K.: Method guidelines 1. Technical report, INTO-CPS Deliverable, D3.1a, December 2015
Fritzson, P.: Principles of Object-Oriented Modeling and Simulation with Modelica 2.1. Wiley-IEEE Press, Hoboken (2004)
Gibson-Robinson, T., Armstrong, P., Boulgakov, A., Roscoe, A.W.: FDR3 — a modern refinement checker for CSP. In: Ábrahám, E., Havelund, K. (eds.) TACAS 2014 (ETAPS). LNCS, vol. 8413, pp. 187–201. Springer, Heidelberg (2014)
Hoare, T.: Communication Sequential Processes. Prentice-Hall International, Englewood Cliffs (1985)
Jackson, D.: Software Abstractions: Logic, Language, and Analysis. MIT Press, Cambridge (2012)
Johnson, D.B.: Finding all the elementary circuits in a directed graph. SIAM J. Comput. 4(1), 77–84 (1975)
Kanellakis, P.C., Smolka, S.A.: CCS expressions, finite state processes, and three problems of equivalence. Inf. Comput. 86(1), 43–68 (1990)
Kleijn, C.: Modelling and simulation of fluid power systems with 20-sim. Int. J. Fluid Power 7(3), November 2006
Kübler, R., Schiehlen, W.: Two methods of simulator coupling. Math. Comput. Model. Dyn. Syst. 6(2), 93–113 (2000)
Kullmann, O.: New methods for 3-SAT decision and worst-case analysis. Theor. Comput. Sci. 223(1–2), 1–72 (1999)
Larsen, P.G., Battle, N., Ferreira, M., Fitzgerald, J., Lausdahl, K., Verhoef, M.: The overture initiative - integrating tools for VDM. SIGSOFT Softw. Eng. Notes 35(1), 1–6 (2010)
Monien, B., Speckenmeyer, E.: Solving satisfiability in less than 2n steps. Discret. Appl. Math. 10(3), 287–295 (1985)
Nipkow, T., Klein, G.: Concrete Semantics: with Isabelle/HOL. Springer, Switzerland (2014)
Pohlmann, U., Schäfer, W., Reddehase, H., Röckemann, J., Wagner, R.: Generating functional mockup units from software specifications. In: Modelica Conference (2012)
R Core Team: R: A Language and Environment for Statistical Computing. R Foundation for Statistical Computing, Vienna, Austria (2015). https://www.R-project.org/
OMG Systems Modeling Language (OMG SysML™). Technical report version 1.3, SysML Modelling Team, June 2012. http://www.omg.org/spec/SysML/1.3/
Tripakis, S., Lickly, B., Henzinger, T.A., Lee, E.A.: A theory of synchronous relational interfaces. ACM TOPLAS 33(4), 14 (2011)
Acknowledgements
This work was supported by the EU project INTO-CPS (Horizon 2020, # 644047, http://into-cps.au.dk/). Thanks are due to Etienne Brosse, who implemented the INTO-SysML profile in the Modelio tool, and Bernhard Thiele, who provided useful feeedback on the work presented here.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing AG
About this paper
Cite this paper
Amálio, N., Payne, R., Cavalcanti, A., Woodcock, J. (2016). Checking SysML Models for Co-simulation. In: Ogata, K., Lawford, M., Liu, S. (eds) Formal Methods and Software Engineering. ICFEM 2016. Lecture Notes in Computer Science(), vol 10009. Springer, Cham. https://doi.org/10.1007/978-3-319-47846-3_28
Download citation
DOI: https://doi.org/10.1007/978-3-319-47846-3_28
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-47845-6
Online ISBN: 978-3-319-47846-3
eBook Packages: Computer ScienceComputer Science (R0)