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...they are related. We also provide examples of viewpoints and discuss how they are related to formalisms. 1. INTRODUCTION Cyber-physical systems (CPS) are becoming an integral part of modern societies =-=[11]-=-. As an application domain CPS is not new. For example, early automotive embedded systems in the 1970s already combined closed-loop control of the brake and engine subsystems (physical parts) with the...

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...ation of various verification tools in Syspect [10]. Recent surveys on verification methods for hybrid systems [1], modeling and analysis of hybrid systems [8], and modeling of cyber-physical systems =-=[9]-=-, reveal that indeed many tools are available for modeling and analyzing hybrid systems, but in a rather isolated manner. Supporting collaboration on formal verification by distributing tasks among me...

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...nfortunately, these models cannot be easily – due to model, domain, and tool incompatibility – and effectively – due to performance reasons – combined to perform system-level analyses and simulations =-=[8]-=-. This situation has led to a serious problem because the vehicles’ complexity keeps increasing but the design tools cannot answer simple but important questions such as estimating the impact of a cha...

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...gate uphill, while still avoiding obstacles. Use the accelerometer to detect an incline and as input to a control algorithm that maintains uphill orientation.Students employ model-based design [17], =-=[19]-=- to develop software for controlling the Cal Climber, making use of the LabVIEW Robotics Environment Simulator by National Instruments. The simulator is based on the Open Dynamics Engine [20] rigid bo...

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...pment environments [9]. Unfortunately, because of the incompatibility between different domains, these tools cannot be easily and effectively combined to perform system-level analysis and simulations =-=[18]-=-. This situation has led to a serious problem because the automobiles complexity keeps increasing but the design tools cannot answer simple but important questions such as estimating the impact of a c...

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...scover and prevent vulnerabilities in a self-driving car example. 1. INTRODUCTION High-quality cyber-physical systems (CPS) require the consideration of a broad range of system qualities. A substantial body of literature has proposed methods and tools to address traditional engineering qualities like performance of heterogeneous control [13] [48], correctness[11] [53], fault tolerance [55] [31] [1], and safety [21] [47] [17]. This is partially due to the fact that control theory, theoretical computer science, and mechanical engineering have been seen as the “core” foundations for CPS research [49] [37] [2]. Security, however, has received relatively little attention as a systemic quality of CPS. As Lee put it in [35], “the term CPS is sometimes confused with “cybersecurity,” which concerns the confidentiality, integrity and availability of data and has no intrinsic connection with physical processes.” Indeed, physical processes in CPS complicate reasoning because of the cross-cutting nature of security: sensors and actuators that interact with the physical world may contribute to a composite cyber-physical vulnerability. For example, security assurance for a car cannot be confined to i...

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... of computing and communications, and models of physics. [2, 44, 71] X §3.2, §3.3, §4 In CPS, model driven development (e.g., to generate code automatically from model) is still in its infancy stage. =-=[24]-=- X §4 to aid in constructing expressive appropriate assertions. We can also train physics models in a debugging environment and use these trained models in a deployment environment to generate accurat...

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...nd computation algorithms. The design of such hybrid systems requires a systems engineering view and an integrated design framework that can support joint event-triggered and continuous-time dynamics =-=[1]-=-. In addition, since hybrid systems usually are very complex and too costly to be designed from scratch, component reusability can never be overemphasized. Developing such a design framework for WSNs ...

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... describe the functional behavior of each component as well as the timing of the network that communicates the data between the two sub-functions. B. Contribution The purpose of our work is to provide a framework for simulating heterogeneous models designed at different levels in the development process. To do so, we propose a co-simulation framework that leverages two open source tools: Ptolemy II and HLA/CERTI. Ptolemy II [2] is an open source modeling and simulation tool for heterogeneous systems, developed at the University of California Berkeley. This tool is well suited for modeling CPS [3] by providing different models of computation (MoC) such as continuous time for describing physical properties or discrete events for describing software and control. The IEEE High-Level Architecture (HLA) standard [4], [5] targets distributed simulation. A CPS is seen as a federation grouping several federates which communicate via publish/subscribe patterns. This decomposition into federates allows to combine different types of components such as simulation models, concrete functional codes (in C++, Java, etc.) and hardware equipments. The key benefits of HLA are interoperability and reuse. ...