%0 Journal Article %J Journal of Software Engineering for Robotics (JOSER) %D 2016 %T Modeling Electromechanical Aspects of Cyber-Physical Systems %A Yingfu Zeng %A Rose, Chad G. %A Walid Taha %A Adam Duracz %A Kevin Atkinson %A Roland Philippsen %A Robert Cartwright %A Marcia O'Malley %K Cyber-Physical Systems %K Domain-Specific Language %X

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 languageā€™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.

%B Journal of Software Engineering for Robotics (JOSER) %V 7 %P 100-119 %8 07/2016 %G eng %& 100 %> https://mahilab.rice.edu/sites/default/files/publications/102-585-1-PB.pdf %0 Conference Proceedings %B EAI International Conference on CYber physiCaL systems, iOt and sensors Networks %D 2015 %T Acumen: An open-source testbed for cyber-physical systems research %A Walid Taha %A Adam Duracz %A Yingfu Zeng %A Kevin Atkinson %A Ferenc A.Bartha %A Paul Brauner %A Jan Duracz %A Fei Xu %A Robert Cartwright %A Michal Konecny %A Eugenio Moggi %A Jawad Masood %A Pererik Andreasson %A Jun Inoue %A Anita Santanna %A Roland Philippsen %A Alexandre Chapoutot %A O'Malley, M.K. %A Aaron Ames %A Veronica Gaspes %A Lise Hvatum %A Shyam Mehta %A Henrik Eriksson %A Christian Grante %B EAI International Conference on CYber physiCaL systems, iOt and sensors Networks %8 10/2015 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/cyclone15Taha.pdf %0 Conference Proceedings %B The Fourth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'13) %D 2013 %T Modeling Basic Aspects of Cyber-Physical Systems, Part II %A Yingfu Zeng %A Rose, Chad G. %A Paul Branner %A Walid Taha %A Jawad Masood %A Roland Philippsen %A Marcia K. O'Malley %A Robert Cartwright %X
We continue to consider the question of what
language features are needed to effectively model cyber-physical
systems (CPS). In previous work, we proposed using a core
language as a way to study this question, and showed how
several basic aspects of CPS can be modeled clearly in a
language with a small set of constructs. This paper reports
on the result of our analysis of two, more complex, case studies
from the domain of rigid body dynamics. The first one, a
quadcopter, illustrates that previously proposed core language
can support larger, more interesting systems than previously
shown. The second one, a serial robot, provides a concrete
example of why we should add language support for static
partial derivatives, namely that it would significantly improve
the way models of rigid body dynamics can be expressed.
%B The Fourth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'13) %C Tokyo, Japan %G eng %> https://mahilab.rice.edu/sites/default/files/publications/paper%20%285%29.pdf