alessandra bagnato
TRANSCRIPT
www.into-cps.au.dk
INTO-CPS:Anintegrated“toolchain”forcomprehensiveModel-Based
DesignofCyber-PhysicalSystems
AlessandraBagnatoSOFTEAM
• SOFTEAM(ST),agrowingcompany– 25+Yearsexperience– 840experts– Regulargrowth
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SOFTEAM• SpecialistinOOtechnologies,
newarchitectures,methodologies
21,5ME
2007
20ME17,5ME
23ME
200820062005
...
2015
80ME
ParisRennes
Nantes
Aix
Sophia
Toulouse
• UMLeditorwith20years’history– SysML,MARTE,BPMN
– Codegeneration– Documentation– Availableunder
opensourceatModelio.org
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ModelioforSystemEngineering
www.modelio.org
Modelio3
• Modelling withUML,SysMLandBPMN• RequirementsModeling• Tabulareditors• Import/export MSExcel&Word• EmbeddedSystemsmodelling viaMARTE• TraceabilityEditor• ImpactAnalysis• DocumentGeneration• Support forCollaborativeactivities(Constellation,
SVN)• Automaticdiagramscreation• Customisable, interfacestoexternaltools
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ModelioSystemArchitectSolutionDedicatedtoSystemarchitectsmodelling withSysML,UMLorBPMNand
carryingoutRequirementsbasedanalysis
TraceabilityEditor
DedicatedSysMLeditor
Cyber-PhysicalChallenges
AgriculturalLogistics
SmarterBuildingDesign• Modelsoflarge-scale,open,
diversedataintegration• …coupledwithmodelsofphysics• Needtomodellearningbehaviour• Possibleintegrationofmodelsof
humanbehaviour
• Needtomodelcontrolandplanning/re-planning
• Modelsoflocalityandmobility• Real-timebehaviourmodelling• Domain-specificreferencemodels
www.into-cps.org
INTO-CPS:Anew8M€ H2020Project
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1. Buildanopen,well-foundedtoolchainformultidisciplinarymodel-baseddesignofCPSthatcoversthefulldevelopmentlifecycleofCPS
2. Provideasoundsemanticbasisforthetoolchain3. Providepracticalmethodsintheformofguidelines
andpatternsthatsupportthetoolchain4. Demonstrateinanindustrialsettingtheeffectiveness
ofthemethodsandtoolsinavarietyofapplicationdomains.
5. FormanINTO-CPSAssociationtoensurethatprojectresultsextendbeyondthelifeoftheproject
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INTOCPSObjectives
CPSco-modelling
sharednetwork
sharedcomputing
co-simulation (MiL)environment
model
modelsofcyberelements modelsofphysicalelements
realcode realplant
codegeneration realisation
laboratorytesting
SiL HiL
co-model
architecturemodels
stubmodelgeneration
requirements
testautomation
automatedco-modelanalysisdesignspaceexploration
modelchecking
analysisplug-ins
Agriculture
AutomotiveRailways
BuildingAutomation
Conventional Inter-crop
cropcleanedsoil
• Modernsystemsarecomplex• Tocopewiththis,wecanbuildmodelsbeforehand– Toperformanalysis(e.g.staticanalysis,proof,modelchecking,simulation)
– Clarifyourassumptions– Evaluatepotentialdesigns– Avoidexpensiveprototypes
• Differentmodellingparadigmsfordifferentaspects
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Model-drivenDesign
• SysML– UseCasediagrams– Requirementsdiagrams
• Informal(linkandtraceable)• Formal(LTL,Testautomation)
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RequirementsModellinguc Line following robot
Line following Robot
Controller
Line
Motors
Sensors
Read optical sensor values
Adjust motor control signals
Measure optical reflection
«include»
Encoders Wheels
Read encoder ticks
Measure encoder ticks
«include»
req FaultModelling
Model faulty behaviour in the sensorsId=s1
«requirement»faultyBehaviour
Model ambient light as noise in the optical sensorsId=s1.1
«requirement»ambientLight
Model AD conversion erros in the LSB’s of the optical sensor readingsId=s1.2
«requirement»conversionError
Model malfunctioning sensors that continuously reads the same valueId=s1.3
«requirement»sensorMalfunction
Model ambient light as noise in the optical sensorsId=s1.1
«requirement»ambientLight
«block»SensorRight«satisfy»
• BlockDefinitionDiagram(toplevel)
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SystemDecomposition
bdd Line following robot
«block»Robot
«block»Controller
«block»SensorLeft
«block»SensorRight
«block»WheelLeft
«block»WheelRight
«block»LineFollowingRobot
«block»Environment
«block»Line
«block»Body
«block»EncoderLeft
«block»EncoderRight
«block»MotorLeft
«block»MotorRight
SystemInterfaceModelling• InternalBlockDiagram– DivideintoCT/DEconstituentmodels/systems/components– Defineinterfacesbetweendifferentcomponents
ibd Robot
«block»Controller
«block»MotorLeft
«block»WheelLeft
«block»EncoderLeft
«block»SensorLeft
«block»MotorRight
«block»WheelRight
«block»EncoderRight
«block»SensorRight
«block»Body
motorSignalL:real
encoderSignalL:real encoderSignalR:real
motorSignalR:real
rotationL:rad/s rotationR:rad/s
toWhellRtoWheelL toBodyRtoBodyL
sensorSignalR:realsensorSignalL:real
ibd Environment
«block»Line
robotPosition:real[2,1] opticalReflectionR:realopticalReflectionL:real
• ParametricDiagram– Definecontinuousbehaviour ofCTcomponents
• StateMachines(DEmodelsgeneratedfortests)– Definediscretebehaviour ofDEcomponents
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SystemBehaviour
par Robot
totalForce:N
forceL
forceR
forceR:N
forceR
forceL:N
forceL
genForceLrxForceL
rxForceRgenForceR
rxForceL:N
rxForceL
forceR
rxForceR:N
rxForceR
forceL
genForceL
genForceRbdd Constraints
«block»Robot
parameterstotalForce:NforceL:NforceR:N
constraints{totalForce=forceL+forceR}
«constraint»TotalForce
parametersforceL:NgenForceL:NrxForceL:N
constraints{forceL=genForceL+rxForceL}
«constraint»ForceLeft
parametersforceR:NgenForceR:NrxForceR:N
constraints{forceR=genForceR+rxForceR}
«constraint»ForceRight
parametersrxForceL:NforceR:N
constraints{rxForceL=forceR}
«constraint»RxForceLeft
parametersrxForceR:NforceL:N
constraints{rxForceR=forceL}
«constraint»RxForceRight
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Modelio forINTO-CPS(2/3)
ConnectionDiagram
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Modelio forINTO-CPS(3/3)
ModelioINTO-CPSmodule
• AGCO,Denmark• Alcatel-Lucent,Ireland• Almende,Netherlands• Altran,UK• Bachmannelectronic,Netherlands• BakkerSliedrecht ElectroIndustrie,Netherlands• Carrier,France• CeTIM,Netherlands• Chemring TS,UK• Conpleks Innovation, Denmark• DredgingInternational,Belgium• DSTL,UK• Goodrich,UK• Grundfos,Denmark
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InitialIndustrialFollowerGroup
• GNResound,Denmark• HMF,Denmark• Huisman Equipment,Netherlands• Irmato IndustrialSolutions, Netherlands• JaguarLandRover,UK• NationalInstituteofInformatics,Japan• ONERA,France• Rockwell-Collins,France• Rolls-Royce,UK• Seluxit,Denmark• Siemens,Sweden• Terma,Denmark:• Thales,France• UTCAerospaceSystems,UK• WestConsulting,Netherlands
ContactsAlessandraBagnato,[email protected] WebSite:http://www.modelio.orghttp://forge.modelio.org/projects/intocps
INTO-CPSWebSitehttp://into-cps.au.dk/@https://twitter.com/IntoCpshttps://github.com/into-cps
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ITServices/UMLTools
Research
Management
Standardization
MONDOProject, ascalablemodelingandmodelmanagementontheCloud
www.into-cps.au.dk
Thanks!
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