COLLABORATIVE MODELLING AND CO-SIMULATION:

Transcription

1 COLLABORATIVE MODELLING AND CO-SIMULATION: TOOLS AND TECHNIQUES FOR THE DEVELOPMENT OF INDUSTRIAL CYBER-PHYSICAL SYSTEMS PROFESSOR AND OWNER, FIRST TIME RIGHT TECHNOLOGIES (FITIRI-TECH.COM) VERSITET UNI

2 AGENDA The Crescendo Technology Industrial case studies Future planned development 2 2

3 DESTECS ( Fault/Error Modelling VDM (Overture) Discrete Event (DE) Continuous Time (CT) Bond Graphs (20-sim) Methods (Modelling guidelines, patterns) Tool Support (open platform) Industry case studies: personal transportation, mail processing, dredging etc. 3

4 CRESCENDO TOOL ARCHITECTURE Language: VDM-RT Time Concurrency Architecture Deployment Language: Bond Graphs Mechanics Electronics Hydraulics Pneumatics Thermodynamics 4

5 ILLUSTRATIVE CASE STUDY: LINE-FOLLOW ROBOT wheel encoder IR distance sensors servo motor contact switch IR line-follow sensors example path 5

6 DESIGN SPACE EXPLORATION (DSE) Building and evaluating models to reach a design Design choices restrict the design space Choice: Two Sensors 6

7 RESULTS AND RANKINGS Results can be graphical or numerical Designs can be evaluated by ranking functions (b) (h) * A = distance, B = energy, C = deviation area, D = maximum deviation 7

8 COMPARING MODEL AND REALISATION Co-simulation and real world LINE-FOLLOWING ROBOT

9 AGENDA The Crescendo Technology Industrial case studies Future planned development 9 9

10 INDUSTRIAL CASE STUDIES Three substantial case studies, done by the companies Aplication Document Handling Dredging Excavator Self-balancing Scooter Company Neopost Verhaert Chess WISE & Chess ix Challenge Concurrent design Product robustness Manage complexity Fault Source Error handling Operator error Design faults Improvement Model-in-loop sim Design exploration Reliability analysis Approach DE-first CT-first DE-first, CT-first & contractfirst Prior 20-sim - VDM & 20-sim Smaller challenges, mainly done by the project team Flare Dispensing System (Terma) Tilt Tray Conveyor System (Crisplant) Planetary Rover (ESA ESTEC)

11 DOCUMENT INSERTING SYSTEM 11

12 DOCUMENT INSERTING SYSTEM KEY RESULTS mechanical design error was spotted before first prototype a competent sheet alignment co-model was developed simulation model was (re)used to validate control software 12

13 SELF-BALANCING SCOOTER 13

14 DREDGING EXCAVATOR 14

15 DREDGING EXCAVATOR 15

16 DREDGING EXCAVATOR (ASSISTED MODE) KEY RESULTS Design Space Exploration was used to optimize end-stop protection parameters DESTECS was used to validate the Emergency Switch controller behavior the Assisted Mode-specification was validated on the scale-model set-up 16

17 AGENDA The Crescendo Technology Industrial case studies Future planned development 17 17

18 FOLLOW-UP PROJECT: INTO-CPS 8 M new research project under Horizon

19 requirements architecture models automated co-model analysis design space exploration models of cyber elements shared computing shared network stub model generation co-simulation (MiL) SiL HiL models of physical elements environment model co-model analysis plugins code generation realisation test automation model checking real code laboratory testing real plant 19

20 INTO-CPS CONSORTIUM Aarhus University, Denmark (coordinator) Newcastle University, UK University of York, UK Linköping University, Sweden Verified Systems International GmbH, Germany Controllab Products, Netherlands ClearSy, France TWT GmbH, Germany Kongskilde Industries, Denmark United Technologies, Ireland Softeam, France 20

21 Conventional Inter-crop crop cleaned soil Railways Building Automation Agriculture Automotive 21

22 INITIAL INDUSTRIAL FOLLOWER GROUP AGCO, Denmark Alcatel-Lucent, Ireland Almende, Netherlands Altran, UK Bachmann electronic, Netherlands Bakker Sliedrecht Electro Industrie, Netherlands Carrier, France CeTIM, Netherlands Chemring TS, UK Conpleks Innovation, Denmark Dredging International, Belgium DSTL, UK Goodrich, UK Grundfos, Denmark GN Resound, Denmark HMF, Denmark Huisman Equipment, Netherlands Irmato Industrial Solutions, Netherlands Jaguar Land Rover, UK National Institute of Informatics, Japan ONERA, France Rockwell-Collins, France Seluxit, Denmark Siemens, Sweden Terma, Denmark: Thales, France UTC Aerospace Systems, UK West Consulting, Netherlands 22

23 ANY QUESTIONS? 23