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Modeling Electromechanical Aspects of Cyber-Physical Systems
Rice University, Houston, USA. (Effective Modeling Group)
Rice University, Houston, USA. (Department of Computer Science)
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). Rice University, Houston, USA. (Effective Modeling Group)
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). (Effective Modeling Group)ORCID-id: 0000-0003-4175-4020
Vise andre og tillknytning
2016 (engelsk)Inngår i: Journal of Software Engineering for Robotics, ISSN 2035-3928, E-ISSN 2035-3928, Vol. 7, nr 1, s. 100-119Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

Model-based tools have the potential to significantly improve the process of developing novel cyber-physical systems (CPS). In this paper, we consider the question of what language features are needed to model such systems. We use a small, experimental hybrid systems modeling language to show how a number of basic and pervasive aspects of cyber-physical systems can be modeled concisely using the small set of language constructs. We then consider four, more complex, case studies from the domain of robotics. The first, a quadcopter, illustrates that these constructs can support the modeling of interesting systems. The second, a serial robot, provides a concrete example of why it is important to support static partial derivatives, namely, that it significantly improves the way models of rigid body dynamics can be expressed. The third, a linear solenoid actuator, illustrates the language’s ability to integrate multiphysics subsystems. The fourth and final, a compass gait biped, shows how a hybrid system with non-trivial dynamics is modeled. Through this analysis, the work establishes a strong connection between the engineering needs of the CPS domain and the language features that can address these needs. The study builds the case for why modeling languages can be improved by integrating several features, most notably, partial derivatives, differentiation without duplication, and support for equations. These features do not appear to be addressed in a satisfactory manner in mainstream modeling and simulation tools.

sted, utgiver, år, opplag, sider
2016. Vol. 7, nr 1, s. 100-119
Emneord [en]
Domain-Specific Language, Cyber-Physical Systems
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-32091OAI: oai:DiVA.org:hh-32091DiVA, id: diva2:974862
Forskningsfinansiär
Knowledge Foundation
Merknad

Funding: US NSF CPS award (No.1136099), Swedish KK-Foundation, CERES and CAISR Centres, and the Swedish SSF NG-Test

Tilgjengelig fra: 2016-09-27 Laget: 2016-09-27 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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