--- abstract: 'This paper presents initial results of research aimed at developing methods and tools for multidisciplinary collaborative development of dependable embedded systems. We focus on the construction and analysis by co-simulation of formal models that combine discrete-event specifications of computer-based controllers with continuous-time models of the environment with which they interact. Basic concepts of collaborative modelling and co-simulation are presented. A pragmatic realisation using the VDM and Bond Graph formalisms is described and illustrated by means of an example, which includes the modelling of both normal and faulty behaviour. Consideration of a larger-scale example from the personal transportation domain suggests the forms of support needed to explore the design space of collaborative models. Based on experience so far, challenges for future research in this area are identified.' accompaniment: [] book_title: ~ commentary: ~ completion_time: ~ composition_type: ~ conductors_id: [] conductors_name: [] contact_email: ~ copyright_holders: [] corp_creators: [] creators_id: - john.fitzgerald@ncl.ac.uk - pgl@iha.dk - k.g.pierce@ncl.ac.uk - Marcel.Verhoef@CHESS.NL - swo@iha.dk creators_name: - family: Fitzgerald given: John S. honourific: '' lineage: '' - family: Larsen given: Peter Gorm honourific: '' lineage: '' - family: Pierce given: Ken G honourific: '' lineage: '' - family: Verhoef given: Marcel honourific: '' lineage: '' - family: Wolff given: Sune honourific: '' lineage: '' data_type: ~ date: 2010-10 date_type: published datestamp: 2010-08-18 12:01:24 department: ~ dir: disk0/00/00/02/42 divisions: [] edit_lock_since: ~ edit_lock_until: 0 edit_lock_user: ~ editors_id: [] editors_name: [] eprint_status: archive eprintid: 242 event_dates: 11-14 october 2010 event_location: 'Nancy, France' event_title: Integrated Formal Methods iFM 2010 event_type: conference exhibitors_id: [] exhibitors_name: [] fileinfo: /style/images/fileicons/application_pdf.png;/242/1/IFM2010invited.pdf full_text_status: public funders: - EU - EPSRC id_number: ~ importid: ~ institution: ~ isbn: ~ ispublished: inpress issn: ~ item_issues_comment: [] item_issues_count: 0 item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: 'modelling, simulation, real-time systems, embedded systems, control systems' lastmod: 2010-08-22 14:54:39 latitude: ~ learning_level: ~ longitude: ~ lyricists_id: [] lyricists_name: [] metadata_visibility: show monograph_type: ~ note: ~ num_pieces: ~ number: ~ official_url: http://www.springer.com/computer/lncs?SGWID=0-164-0-0-0 output_media: ~ pagerange: 12-26 pages: ~ patent_applicant: ~ pedagogic_type: ~ place_of_pub: ~ pres_type: keynote producers_id: [] producers_name: [] projects: - DESTECS - DEPLOY - TrAMS publication: ~ publisher: ~ refereed: FALSE referencetext: "References\r\n1. 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In: Proc. of Serene 2010 International Workshop on Software Engineering for Resilient Systems. ACM, New York (2010)\r\n5. Broenink, J.F.: Computer-aided physical-systems modeling and simulation: a bond-graph approach. Ph.D. thesis, Faculty of Electrical Engineering, University of Twente, Enschede, Netherlands (1990)\r\n6. Broenink, J.F.: Modelling, Simulation and Analysis with 20-Sim. Journal A Special Issue CACSD 38(3), 22–25 (1997)\r\n7. Eker, J., Janneck, J., Lee, E., Liu, J., Liu, X., Ludvig, J., Neuendorffer, S., Sachs, S., Xiong, Y.: Taming heterogeneity – the Ptolemy approach. Proceedings of the IEEE 91(1), 127–144 (January 2003)\r\n8. Elmstrøm, R., Larsen, P.G., Lassen, P.B.: The IFAD VDM-SL Toolbox: A Practical Approach to Formal Specifications. ACM Sigplan Notices 29(9), 77–80 (1994)\r\n9. Fitzgerald, J.S., Larsen, P.G., Tjell, S., Verhoef, M.: Validation Support for Real-Time Embedded Systems in VDM++. In: Cukic, B., Dong, J. (eds.) Proc. HASE 2007: 10th IEEE High Assurance Systems Engineering Symposium, pp. 331–340. IEEE, Los Alamitos (November 2007)\r\n10. Fitzgerald, J., Larsen, P.G.:Modelling Systems – Practical Tools and Techniques in Software Development, 2nd edn. Cambridge University Press, Cambridge (2009), ISBN 0-521-62348-0\r\n11. Fitzgerald, J., Larsen, P.G., Mukherjee, P., Plat, N., Verhoef, M.: Validated Designs for Object–oriented Systems. Springer, New York (2005), http://www.vdmbook.com\r\n12. Fitzgerald, J., Larsen, P.G., Sahara, S.: VDMTools: Advances in Support for Formal Modeling in VDM. ACM Sigplan Notices 43(2), 3–11 (2008)\r\n13. Fritzson, P., Engelson, V.: Modelica - a unified object-oriented language for system modelling and simulation. In: ECCOP 1998: Proceedings of the 12th European Conference on\r\nObject-Oriented Programming, pp. 67–90. Springer, Heidelberg (1998)\r\n14. Henzinger, T., Sifakis, J.: The Discipline of Embedded Systems Design. IEEE Computer 40(10), 32–40 (2007)\r\n15. Information technology – Programming languages, their environments and system software interfaces – Vienna Development Method – Specification Language – Part 1: Base language (December 1996)\r\n16. Fitzgerald, J.S., Larsen, P.G., Verhoef, M.: Vienna Development Method. In: Wah, B. (ed.) Wiley Encyclopedia of Computer Science and Engineering. John Wiley & Sons, Inc., Chichester (2008)\r\n17. Karnopp, D., Rosenberg, R.: Analysis and simulation of multiport systems: the bond graph approach to physical system dynamic. MIT Press, Cambridge (1968)\r\n18. Larsen, P.G., Battle, N., Ferreira,M., Fitzgerald, J., Lausdahl, K., Verhoef, M.: The Overture Initiative – Integrating Tools for VDM. ACM Software Engineering Notes 35(1) (January 2010)\r\n19. Larsen, P.G., Fitzgerald, J., Wolff, S.: Methods for the Development of Distributed Real-Time Systems using VDM. International Journal of Software and Informatics 3(2-3)\r\n(October 2009)\r\n20. Lee, E.A.: Computing needs time. Communications of the ACM 52(5), 70–79 (2009) 21. Nicolescu, G., Boucheneb, H., Gheorghe, L., Bouchhima, F.: Methodology for efficient design of continuous/discrete-events co-simulation tools. In: Anderson, J., Huntsinger, R. (eds.) High Level Simulation Languages and Applications, SCS, San Diego, CA, pp. 172–179 (2007)\r\n22. Nicolescu, G., Bouchhima, F., Gheorghe, L.: CODIS – A Framework for Continuous/Discrete Systems Co-Simulation. In: Cassandras, C.G., Giua, A., Seatzu, C., Zaytoon, J. (eds.) Analysis and Design of Hybrid Systems, pp. 274–275. Elsevier, Amsterdam (2006)\r\n23. Oxford English Dictionary Online. Oxford University Press (2010)\r\n24. Verhoef, M.: Modeling and Validating Distributed Embedded Real-Time Control Systems. Ph.D. thesis, Radboud University Nijmegen (2008), ISBN 978-90-9023705-3\r\n25. Verhoef, M., Visser, P., Hooman, J., Broenink, J.: Co-simulation of Real-time Embedded Control Systems. In: Davies, J., Gibbons, J. (eds.) IFM 2007. LNCS, vol. 4591, pp. 639–658. Springer, Heidelberg (2007)\r\n26. Wolff, S., Larsen, P.G., Noergaard, T.: Development Process for Multi-Disciplinary Embedded Control Systems. In: EuroSim 2010, EuroSim (September 2010)\r\n27. Woodcock, J., Larsen, P.G., Bicarregui, J., Fitzgerald, J.: Formal Methods: Practice and Experience. ACM Computing Surveys 41(4), 1–36 (2009)" related_url_type: [] related_url_url: [] relation_type: [] relation_uri: [] rev_number: 36 series: ~ skill_areas: [] source: ~ status_changed: 2010-08-18 12:01:24 subjects: - deploy_method_resil - deploy_tooldev_other - rt_modelling succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ task_purpose: ~ thesis_type: ~ title: Collaborative Modelling and Co-simulation in the Development of Dependable Embedded Systems type: conference_item userid: 11 volume: ~