A Modelica Coordination Pattern Library for Cyber-Physical Systems

Abstract

Today's embedded systems often do not operate individually anymore. Instead, they form so called cyber-physical systems, where the overall functionality is provided by the collaboration of systems. Consequently, the design of this collaboration is an important activity during development and strongly affects system quality. In previous work, we presented a catalog of reusable messagebased real-time coordination patterns to avoid manual creation of new and, thus, error-prone designs. In this paper, we present an implementation of this catalog by a library in the Modelica language and an appropriate development process. The library stores ready to reuse solutions for common coordination activities and, thus, increases efficiency and effectiveness for use. Furthermore, the use of Modelica enables early holistic simulation of cyber-physical systems including feedback controllers and message-based coordination. We illustrate the library with examples from an autonomous railway vehicle and present an early evaluation.

The MechatronicUML method: model-driven software engineering of self-adaptive mechatronic systems

“…In the final Step 5, the verified software model is automatically transformed [7,9] into the representation of commercial off-the-shelf (COTS) simulation tools like MAT-LAB/Simulink 2 and Modelica/Dymola 3 . These tools enable to simulate the behavior of the complete mechatronic system in its physical environment.…”