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SummaryModeling Cyber‐physical systems (CPS) is a challenging step that requires a lot of background from both the cyber and physical fields. However, there is a lack of studies in the existing literature that discuss the state of the art in modeling CPS or explore the research gaps in this area. In this paper, we survey existing approaches to modeling CPS. We focus on studying the considered CPS properties. Based on this study, we classify these properties and discuss their importance in different application domains. Moreover, research directions are presented to address key challenges in the specification of CPS models.

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A cyber-physical process is a set of cyber and physical activities performed to accomplish a common goal in a given amount of time. The collaboration between cyber-physical processes describes the behaviour of networked cyber-physical systems (NCPS). NCPS have time-related and physical properties, which are crucial to the correctness of their execution. However, when we specify the collaboration between processes, some combination of their corresponding properties can be conflicting. This conflict renders the participating cyber-physical processes incompatible. We observe two types of problems: implicit time-related, and physical-related incompatibilities. In this paper, we propose a novel approach to verify the compatibility of cyber-physical processes with time-related and physical properties. We first define a set of constraints that allow the transformation of the NCPS model into a constraint satisfaction model. Then, we check the compatibility of the processes. Finally, we demonstrate the applicability and effectiveness of our approach through a case study.

A cyber-physical process is a set of cyber and physical activities performed to accomplish a common goal in a given amount of time. The collaboration between cyber-physical processes describes the behaviour of networked cyber-physical systems (NCPS). NCPS have time-related and physical properties, which are crucial to the correctness of their execution. However, when we specify the collaboration between processes, some combination of their corresponding properties can be conflicting. This conflict renders the participating cyber-physical processes incompatible. We observe two types of problems: implicit time-related, and physical-related incompatibilities. In this paper, we propose a novel approach to verify the compatibility of cyber-physical processes with time-related and physical properties. We first define a set of constraints that allow the transformation of the NCPS model into a constraint satisfaction model. Then, we check the compatibility of the processes. Finally, we demonstrate the applicability and effectiveness of our approach through a case study.

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Cyber-physical systems (CPSs) are characterized by a multitude of physical and software. Particularly time-related properties are of paramount importance and they can impact the behaviour of these systems. Designing and verifying CPS while tackling time-related and physical properties are very important steps in the CPS life cycle development. Indeed, it is necessary to capture and characterize the different features and their dependencies with time through expressive models. Then, these models must be verified to prove their correctness. Existing process modelling languages such as business process modelling notation (BPMN) has been widely used to model business processes. However, BPMN lacks several features for modelling rich CPS processes such as those related to time and physical properties. In this study, the authors propose a verification framework for collaborative time-aware CPS processes. In this context, they propose to extend BPMN to support the various CPS concepts and properties. Based on this extension, they propose a consistency verification approach, which aims to verify that the time-related and physical properties associated with each process do not give rise to conflicts. Finally, they propose a compatibility verification approach, which aims to verify that the set of involved CPS processes form consistent inter-CPS processes.