Inhalt

•  
   Abstract
•  
   Zusammenfassung
•  
   Danksagung
•  
   1 Introduction
•  
  1.1 Problem Statement
•  
   1.1.1 Simulation of Cyber-physical Systems
•  
   1.1.2 Specifying Constraints for Allocation Planning
•  
   1.1.3 Constructing Software for Distributed Cyber-Physical Systems
•  
   1.2 Contribution
•  
   1.2.1 Model-in-the-Loop Simulation
•  
   1.2.2 Allocation Engineering
•  
   1.2.3 Software Construction
•  
   1.3 Running Example: Cooperative Overtaking System Using Car-2-X Communication
•  
   1.4 Thesis Structure
•  
  2 MechatronicUML
•  
   2.1 Development Process
•  
  2.2 Modeling Views
•  
   2.2.1 Real-Time Coordination Protocol
•  
   2.2.2 Real-Time Statechart
•  
   2.2.3 Action Language
•  
   2.2.4 Component Model
•  
   2.2.5 Component Instance Configuration
•  
   3 Model-in-the-Loop Simulation
•  
  3.1 Modelica
•  
   3.1.1 Modeling System's Structures
•  
   3.1.2 Modeling the State-based Behavior
•  
   3.1.3 MiL Simulation of Modelica Models
•  
   3.2 Process for Model-in-the-Loop Simulation of MechatronicUML
•  
  3.3 Real-Time Coordination Modelica Library
•  
   3.3.1 Synchronization Connectors and Ports
•  
   3.3.2 Message-Based Communication
•  
   3.3.3 Clocks, Invariants, and Clock Constraints
•  
   3.3.4 Formal Syntax and Semantics Definition of the Real-Time Coordination Library
•  
   3.3.5 Case Study
•  
   3.4 Model-in-the-Loop Simulation of MechatronicUML
•  
   3.4.1 Transforming Component Instance Configurations (CiCs) to Modelica Connection Diagrams
•  
   3.4.2 Transforming RTSCs to Modelica Models
•  
   3.5 Tooling Implementation
•  
   3.6 Case Study
•  
   3.6.1 Context and Cases
•  
   3.6.2 Hypothesis
•  
   3.6.3 Analysis Procedure
•  
   3.6.4 Preparation of the Data Collection
•  
   3.6.5 Data Collection Procedure
•  
   3.6.6 Interpreting the Results
•  
   3.6.7 Threats to Validity
•  
   3.7 Limitations
•  
  3.8 Related Work
•  
   3.8.1 MiL Simulation Using Modelica as Modeling Language and Simulation Environment
•  
   3.8.2 MiL Simulation Using Modelica as Simulation Environment
•  
   3.8.3 MiL Simulation Using Other Modeling Languages and Simulation Environments
•  
   3.8.4 MiL Simulation Using Functional Mockup Units
•  
   3.9 Summary
•  
   4 Allocation Engineering
•  
   4.1 Allocation Engineering Example
•  
   4.2 Allocation Engineering Process
•  
   4.3 Hardware Platform Modeling
•  
   4.3.1 Overview
•  
   4.3.2 Resource Views
•  
   4.3.3 Platform Views
•  
   4.4 Component Instance Resource Requirements Modeling and View
•  
  4.5 Allocation Constraint Modeling
•  
   4.5.1 Allocation Constraint View
•  
   4.5.2 OCL-based Allocation Specification Library
•  
   4.6 Automated Allocation Planning
•  
   4.6.1 Constraint Satisfaction Problems
•  
   4.6.2 Linear Program Modeling
•  
   4.6.3 0-1-ILP Representation of ASL Constraints
•  
   4.6.4 Back-Transformation to the System Allocation Specification Model
•  
   4.7 Constraint Definition for Cyber-physical Systems
•  
   4.7.1 Software-Dependency Collocation Constraint
•  
   4.7.2 Topology-Dependency Required Location Constraint
•  
   4.7.3 Software-Incompatibility Separate Location Constraint
•  
   4.7.4 Software-Communication Location Constraint
•  
   4.7.5 Memory Usage Resource Constraint
•  
   4.7.6 Processor Usage Resource Constraint – Response-Time Analysis for Task Scheduling
•  
   4.7.7 Processor Usage Resource Constraint – EDF Schedulability Task Analysis
•  
   4.7.8 Network Usage Resource Constraint – CAN Message Scheduling Response-Time Analysis
•  
   4.8 System Allocation Specification View
•  
   4.9 Tooling Implementation
•  
  4.10 Case Study
•  
   4.10.1 Context and Cases
•  
   4.10.2 Hypotheses
•  
   4.10.3 Analysis Procedure
•  
   4.10.4 Preparation of the Data Collection
•  
   4.10.5 Data Collection Procedure
•  
   4.10.6 Interpreting the Results
•  
   4.10.7 Threats to Validity
•  
   4.11 Limitations
•  
  4.12 Related Work
•  
   4.12.1 Architecture Description Languages for Modeling Hardware
•  
   4.12.2 Design Space Exploration for Allocation Planning
•  
   4.13 Summary
•  
   5 Software Construction
•  
  5.1 MechatronicUML Component Model Extensions
•  
   5.1.1 Integration of Software Libraries
•  
   5.1.2 Reuse and Configuration of Components via Parametrization
•  
   5.1.3 Parameter Binding for Component Instances
•  
   5.1.4 Semantics of the Communication between Hybrid Port and Continuous Ports
•  
   5.2 Process for the Software Construction
•  
   5.3 Concepts for the Software Constructions
•  
   5.3.1 Architecture-Centric, Component-Container-based Generation Infrastructure
•  
   5.3.2 Platform-Independent Implementation
•  
   5.3.3 Platform-Specific Modeling
•  
   5.3.4 Platform-Specific Implementation
•  
   5.3.5 Build
•  
   5.4 Tooling Implementation
•  
  5.5 Case Study
•  
   5.5.1 Context and Cases
•  
   5.5.2 Hypotheses
•  
   5.5.3 Analysis Procedure
•  
   5.5.4 Preparation of the Data Collection
•  
   5.5.5 Data Collection Procedure
•  
   5.5.6 Interpreting the Results
•  
   5.5.7 Threats to Validity
•  
   5.6 Limitations
•  
  5.7 Related Work
•  
   5.7.1 Component-based Application Engineering
•  
   5.7.2 Component-based Middleware Engineering and Deployment Frameworks/Specifications
•  
   5.8 Summary
•  
  6 Conclusion
•  
   6.1 Summary
•  
   6.2 Future Work
•  
  Bibliography
•  
   Own Peer-Reviewed Papers
•  
   Own Non-Peer-Reviewed Technical Reports and Book
•  
   Supervised Theses
•  
   Literature
•  
   Norms and Specifications
•  
   Tools, Software Platforms, and Hardware Platforms
•  
   List of Figures
•  
   List of Tables
•  
   List of Acronyms
•  
  Appendices
•  
  A Supplementary Material for the Hardware Platform Description Language
•  
   A.1 Hardware Platform Description Meta-Model
•  
  B Supplementary Material for the Allocation Specification Language
•  
   B.1 Preamble of Allocation Constraint Specification
•  
   B.2 Allocation Specification Language Meta-Model
•  
   B.3 Name Provider and Storage Provider
•  
   B.4 OCL-based ASL Library
•  
   B.5 Linear Program Meta-Model
•  
   B.6 Concrete LPSolve Syntax for Linear Programs
•  
  C Supplementary Material for the Deployment Configuration Language
•  
   C.1 MechatronicUML Deployment Configuration Meta-Model
•  
   C.2 Concrete ApiMl Syntax
•  
   C.3 Concrete APIMappingMl Syntax
•  
  D Supplementary Material for the Software Construction Explanation
•  
   D.1 Component Context Object Pattern
•  
   D.2 Handle Pattern
•  
   D.3 Builder Pattern
•  
   D.4 Lifecycle Callback Pattern
•  
   D.5 Supplementary Material for the Hybrid Port Semantics Definition
•  
   D.6 Supplementary Material for the Makefile Explanation
•  
  E Supplementary Case Study Model Descriptions
•  
   E.1 Allocation Constraints for the Cooperating Overtaking Scenario
•  
   E.2 Real-Time Coordination Protocol for the Cooperating Overtaking Scenario
•  
   E.3 Verified Safety and Liveness Properties
•  
   E.4 Distance Sensor Access Specification for the Raspberry Pi Platform
•  
  F Supplementary Collected Data
•  
   F.1 Modelica Transformation
•  
   F.2 Allocation Transformation
•  
   F.3 Generating C Code and DDS Artifacts from MechatronicUML and Collecting Execution Time Data
•  
   F.4 Software Construction Transformation