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Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
Collaborative modeling and co simulation with destecs - a pilot study
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Collaborative modeling and co simulation with destecs - a pilot study

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Presentation delivered at the 3rd IEEE Track on …

Presentation delivered at the 3rd IEEE Track on
Collaborative Modeling & Simulation - CoMetS'12.

Please see http://www.sel.uniroma2.it/comets12/ for further details.

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  1. Collaborative Modelling and Co-Simulation with DESTECS: A Pilot Study Carl Gamble and Ken Pierce Yunyun Ni and Jan Broenink Centre for Software Reliability EEMCS Newcastle University University Twente3rd IEEE Track on Collaborative Modeling & Simulation - CoMetS12Toulouse, 27th June 2012
  2. Introduction• DESTECS approach: • Motivation • Concepts• Pilot study: • Exercise tool • Methodology• Concluding remarks 2
  3. Motivations• Demanding requirements for: • Rapid development in competitive markets • Resource utilisation • Resilience • Complexity of error detection and recovery• The need for coordinated engineering: • Across disciplines (cultures, abstractions, formalisms) • ... and models. 3
  4. DESTECS Approach (www.destecs.org)• Bridge disciplines through co-simulation • Combine DE controller models and CT plant models • Collaboration while working with familiar formalism• Develop methods and tools • Linking heterogeneous models, each in an appropriate formalism • A linking co-simulation engine, based on a reconciled operational semantics of the two simulations• Patterns for modelling faults and fault tolerance mechanisms 4
  5. Basic Concepts (1) Shared • design parameters Co-model • variables • events DE CT Contract Model Model Co-model InterfaceIdeal & Realistic BehavioursFault Modelling: including Runs a co-simulationerror states & faulty Scenario Forces selections and externalfunctionality in the model updates, e.g. set pointFault Injection during a Multiple co-simulation runssimulation managed by script enables design space exploration 5
  6. Basic Concepts (2) DE CT Contract Model ModelVDM-RT: (Overture) Bond Graph: (20-Sim)• Formal language • Describe relevant dynamic behavior• Object Oriented • Diagrams to show the structure• Concurrency • Port-based approach• Support for embedded systems: • Domain-independent • Explicit CPUs and Busses • Timed C MSe 1 I R 6
  7. Pilot Study: a Line-Following Robot servo motor wheel encoder IR line-follow sensors example path 7
  8. Pilot Study: Top-level Model 8
  9. Pilot Study: CT Model High-fidelity dynamics model using bond graphs Structuring with 20-sim constructs 9
  10. Pilot Study: CT Model l1 l1 l2 v2 v2   v1 l2 v1 l2 F2   F1y x l1 Kinematic TF : rotational/translational coupling MTF: coordinate transformation from local (body fixed) to inertial (global) frame 10
  11. Pilot Study: DE Model Mainly supervisory control Uses DE-first patterns IRSensor -value: int +Read: () ==> int Controller AbstractMode -lfLeft: IRSensor -lfLeft: IRSensor -lfRight: IRSensor -lfRight: IRSensor -vLeft: SpeedServo -vLeft: SpeedServo -vRight: SpeedServo -vRight: SpeedServo -mode: AbstractMode +Step: () ==>() +Step: () ==>() SpeedServo Idle TwoSensor -value: real +Step: () ==>() +Step: () ==>() +Write: real ==> () 11
  12. Pilot Study: Video with no Fault This video may be viewed at: http://www.youtube.com/watch?v=24FuiGPEKVI 12
  13. Pilot Study: Fault Modelling (1) If component behaviour known, model those faults, if not.. Guidewords used to inspire thinking on faults  HAZOP used within CT  SHARD used for CT-DE interface  Early / late : timing of a message or update  Commission / omission : was a service provided  Subtle / coarse : can a deviation from ideal behaviour be detected or not 13
  14. Pilot Study: Fault Modelling (2)  Line follow sensor initial model behaviour is ideal  Add realistic and faulty behaviour • Ambient light levels affect readings (black level) • Realistic sensor noise • Total failure Ideal Ambient light Noise Total failureWhiteBlack Line 14
  15. Pilot Study: Fault Tolerance Light levels: calibration mode Sensor failure: one-sensor mode IRSensor Noise: filtering -value: int +Read: () ==> int Controller AbstractMode -lfLeft: IRSensor Filter -lfLeft: IRSensor -lfRight: IRSensor -lfRight: IRSensor -sens: IRSensor -vLeft: SpeedServo -vLeft: SpeedServo -values: seq of int -vRight: SpeedServo -vRight: SpeedServo -mode: AbstractMode +Read: () ==> int +Step: () ==>() +Step: () ==>() SpeedServo Idle TwoSensor -value: real +Step: () ==>() +Step: () ==>() +Write: real ==> () Calibrate OneSensor +Step: () ==>() +Step: () ==>() 15
  16. Pilot Study: Video with a Sensor Fault This video may be viewed at: http://www.youtube.com/watch?v=jh94bL8BfyU 16
  17. Modelling Story Step Newcastle Twente Comments *-first c1 Diff. Encoder semantics Co-model Diff. Robot performance c2 No problems during this Square path c1 step Sensor problem, tooling Line following c3 related, quickly solved locally Faults and c4Fault tolerance Direction of rotation c5 reversed, different control semantics 17
  18. Concluding Remarks Have shown • Concepts of the DESTECS approach • Walk through of the pilot model • Inclusion of faults and fault tolerance Ongoing work: • Model construction methods • Model consistency • Patterns for faults and fault tolerance • Simulation scenario command language • Design of experiments and analysis 18
  19. Collaborative Modelling and Co-Simulation with DESTECS: A Pilot Study Carl Gamble and Ken Pierce Yunyun Ni and Jan Broenink Centre for Software Reliability EEMCS Newcastle University University Twente3rd IEEE Track on Collaborative Modeling & Simulation - CoMetS12Toulouse, 27th June 2012

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