Conference article

Functional Debugging of Equation-Based Languages

Arquimedes Canedo
Siemens Corporation, Corporate Technology, Princeton, USA

Ling Shen
Siemens Corporation, Corporate Technology, Princeton, USA

Download article

Published in: Proceedings of the 5th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools; April 19; University of Nottingham; Nottingham; UK

Linköping Electronic Conference Proceedings 84:7, p. 55-64

Show more +

Published: 2013-03-27

ISBN: 978-91-7519-621-3 (print)

ISSN: 1650-3686 (print), 1650-3740 (online)

Abstract

State-of-the-art debugging techniques for equation-based languages follow a low-level approach to interface users with the complex interactions between equations and algorithms that describe cyber-physical processes. Although these techniques are useful for understanding the low-level behaviors; they do not provide the means for creating a system-level understanding that is often necessary during the early concept product design phase. In this paper; we present a novel debugging technique for equation-based languages based on a high-level approach to facilitate the system-level understanding of complex cyber-physical processes. Our debugging interface is based on functional models that describe what the system does in a formal language that uses natural language elements to improve inter-disciplinary communication. Our novel technique; referred to as functional debugging; can be used in the context of the current systems engineering industrial practice in order to identify system-level problems and explore design alternatives during the early concept design phase. We present a working implementation of our functional debugger and we discuss the benefits of our approach using an automotive use-case.

Keywords

Functional modeling; debuggers; equationbased languages; simulation; cyber-physical systems; concept design

References

[1] Foundations for innovation: Strategic R&D opportunities for the 21st century cyber-physical systems – connecting computer and information systems with the physical world. Technical report; NIST; 2013.

[2] Aberdeen Group. System design: New product development for mechatronics. January 2008.

[3] A. A. Alvarez Cabrera; M. S. Erden; and T. Tomiyama. On the potential of function-behavior-state (FBS) methodology for the integration of modeling tools. In Proc. of the 19th CIRP Design Conference â?A ¸S Competitive Design; pages 412–419; 2009.

[4] ANSYS. HFSS. http://www.ansys.com.

[5] Autodesk. Simulation Software. http://www.ni.com/ labview/.

[6] T. Blochwitz; M. Otter; M. Arnold; C. Bausch; C. Clauss; H. Elmqvist; A. Junghanns; J. Mauss; M. Monteiro; T. Neidhold; D. Neumerkel; H. Olsson; J.-V. Peetz; and S. Wolf. The functional mockup interface for tool independent exchange of simulation models. In Proceedings of the 8th Modelica Conference; pages 105 – 114; 2011.

[7] Manfred Broy; Mario Gleirscher; Peter Kluge; Wolfgang Krenzer; Stefano Merenda; and Doris Wild. Automotive architecture framework: Towards a holistic and standardised system architecture description. Technical report; TUM; 2009.

[8] Cari R. Bryant; Robert B. Stone; Daniel A. Mcadams; Tolga Kurtoglu; and Matthew I. Campbell. Concept generation from the functional basis of design. In Proc. of International Conference on Engineering Design; ICED 2005; pages 15– 18; 2005.

[9] Peter Bunus. An empirical study on debugging equationbased simulation models. In Proceedings of the 4th International Modelica Conference; pages 281 – 288; 2005.

[10] A.A. Alvarez Cabrera; M.J. Foeken; O.A. Tekin; K. Woestenenk; M.S. Erden; B. De Schutter; M.J.L. van Tooren; R. Babuska; F.J.A.M. van Houten; and T. Tomiyama. Towards automation of control software: A review of challenges in mechatronic design. Mechatronics; 20(8):876 – 886; 2010.

[11] A. Canedo; E. Schwarzenbach; and M. A. Al-Faruque. Context-sensitive synthesis of executable functional models of cyber-physical systems. In ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS); 2013.

[12] F. E. Cellier. Continuous System Modeling. Springer-Verlag; 1991.

[13] E. Christen and K. Bakalar. Vhdl-ams-a hardware description language for analog and mixed-signal applications. Circuits and Systems II: Analog and Digital Signal Processing; IEEE Transactions on; 46(10):1263 –1272; oct 1999.

[14] Jeffrey B. Dahmus; Javier P. Gonzalez-Zugasti; and Kevin N. Otto. Modular product architecture. Design Studies; 22(5):409–424; September 2011.

[15] D. Dumbacher and S. R. Davis. Building operations efficiencies into NASA’s Ares I crew launch vehicle design. In 54th Joint JANNAF Propulsion Conference; 2007.

[16] J. Eker; J.W. Janneck; E.A. Lee; Jie Liu; Xiaojun Liu; J. Ludvig; S. Neuendorffer; S. Sachs; and Yuhong Xiong. Taming heterogeneity - the ptolemy approach. Proceedings of the IEEE; 91(1):127–144; jan 2003.

[17] M.S. Erden; H. Komoto; T.J. Van Beek; V.D’Amelio; E. Echavarria; and T. Tomiyama. A review of funcion modeling: approaches and applications. Artificial Intelligence for Engineering Design; Analysis and Manufacturing; 22:147–169; 2008.

[18] G. S. Fishman. Discrete-Event Simulation - Modeling; Programming; and Analysis. Springer; 2001.

[19] Peter Fritzson. Principles of Object-Oriented Modeling and Simulation with Modelica. IEEE; 2004.

[20] D. Gross; J. F. Shortle; J. M. Thompson; and C. M. Harris. Fundamentals of Queueing Theory. Wiley; 4th edition; 2011.

[21] Julie Hirtz; Robert B. Stone; Simon Szykman; Daniel A. McAdams; and Kristin L. Wood. A functional basis for engineering design: Reconciling and evolving previous efforts. Technical report; NIST; 2002.

[22] JModelica. http://www.jmodelica.org/.

[23] Hitoshi Komoto and Tetsuo Tomiyama. A framework for computer-aided conceptual design and its application to system architecting of mechatronics products. Comput. Aided Des.; 44(10):931–946; October 2012.

[24] H. Kuehnelt; Thomas Baeuml; and Anton Haumer. SoundDuctFlow: a Modelica library for modeling acoustics and flow in duct networks. In Proc. of the 7th Intl. Modelica Conference; pages 519–525; 2009.

[25] Tolga Kurtoglu and Matthew I. Campbell. Automated synthesis of electromechanical design configurations from empirical analysis of function to form mapping. Journal of Engineering Design; 19; 2008.

[26] Lawrence Berkeley National Laboratory - Modelica Buildings Library. http://simulationresearch. lbl.gov/modelica.

[27] Insup Lee; Oleg Sokolsky; Sanjian Chen; John Hatcliff; Eunkyoung Jee; BaekGyu Kim; Andrew L. King; Margaret Mullen-Fortino; Soojin Park; Alex Roederer; and Krishna K. Venkatasubramanian. Challenges and research directions in medical cyber-physical systems. Proceedings of the IEEE;100(1):75–90; 2012.

[28] MathWorks. Simscape. http://www.mathworks. com/products/simscape/.

[29] MathWorks. Simulink. http://www.mathworks. com/products/simulink/.

[30] Stephen J. Mellor and Marc Balcer. Executable UML: A Foundation for Model-Driven Architectures. Addison- Wesley Longman Publishing Co.; Inc.; Boston; MA; USA; 2002.

[31] Oregon state university; design engineering lab; design repository. http://designengineeringlab.org/.

[32] Microsoft. Visio. http://msdn.microsoft.com.

[33] Modelica Association; Modelica. https://modelica. org/.

[34] Modelica Association; Modelica Standard Library. https: //modelica.org/libraries/Modelica/.

[35] Modelon. Hydraulics Library. http://www. modelon.com/products/modelica-libraries/ hydraulics-library/.

[36] Modelon - Vehicle Dynamics Library. http://www. modelon.com/.

[37] National Instruments. LabVIEW System Design Software. http://www.ni.com/labview/.

[38] E. L. Nilson and P. Fritzon. BioChem - A Biological and Chemical Library for Modelica. In Proc. of the 3rd Intl. Modelica Conference; pages 215–220; 2003.

[39] OMG Systems Modeling Language (SysML). http: //www.omgsysml.org/.

[40] OpenModelica. https://www.openmodelica. org/.

[41] Martin Otter; Karl-Erik Årzén; and Isolde Dressler. Stategraph—A Modelica library for hierarchical state machines. In Modelica 2005 Proceedings; 2005.

[42] G. Pahl; W. Beitz; J. Feldhusen; and K.H. Grote. Engineering Design - A Systematic Approach. Springer; 3rd edition; 2007.

[43] Christiaan J.J. Paredis; Yves Bernard; Roger M. Burkhart; Hans-Peter de Koning; Sanford Friedenthal; Peter Fritzson; Nicolas F. Rouquette; and Wladimir Schamai. An overview of the SysML-Modelica transformation specification. In INCOSE International Symposium; 2010.

[44] Adrian Pop; Martin Sjolund; Adeel Asghar; Peter Fritzson; and Francesco Casella. Static and dynamic debugging of Modelica models. In Proceedings of the 9th International Modelica Conference; pages 443 – 454; 2012.

[45] Thomas L. Quarles. Analysis of Performance and Convergence Issues for Circuit Simulation. PhD thesis; EECS Department; University of California; Berkeley; 1989.

[46] Venkat Rajagopalan; Cari R. Bryant; Jeremy Johnson; Daniel A. McAdams; Robert B. Stone; Tolga Kurtoglu; and Matthew I. Campbell. Creation of assembly models to support automated concept generation. ASME Conference Proc.; 2005(4742Xa):259–266; 2005.

[47] Ragunathan (Raj) Rajkumar; Insup Lee; Lui Sha; and John Stankovic. Cyber-physical systems: the next computing revolution. In Proceedings of the 47th Design Automation Conference; DAC ’10; pages 731–736; New York; NY; USA; 2010. ACM.

[48] S.D. Rudov-Clark and J. Stecki. The language of FMEA: on the effective use and reuse of FMEA data. In AIAC- 13 Thirteenth Australian International Aerospace Congress; 2009.

[49] Alberto Sangiovanni-Vincentelli. Quo vadis SLD: Reasoning about trends and challenges of system-level design. Proceedings of the IEEE; 95(3):467–506; March 2007.

[50] Wladimir Schamai; Peter Fritzson; Chris Paredis; and Adrian Pop. Towards unified system modeling and simulation with ModelicaML: Modeling of executable behavior using graphical notations. In Proceedings of the 7th Modelica Conference; pages 612 – 621; 2009.

[51] Peter Schwarz. Physically oriented modeling of heterogeneous systems. Math. Comput. Simul.; 53(4-6):333–344; October 2000.

[52] Siemens. NX. http://www.plm.automation. siemens.com.

[53] Siemens. Simulation & Testing SIMIT. http://www. siemens.com.

[54] Siemens. Technomatix. http://www.plm. automation.siemens.com.

[55] MCS Software. Actran Acoustics. http://www. mscsoftware.com/product/actran-acoustics.

[56] Robert B. Stone and Kristin L. Wood. Development of a functional basis for design. Journal of Mechanical Design; 122(4):359–370; 2000.

[57] Dassault Systemes. SolidWorks. http://www. solidworks.com/.

[58] Janos Sztipanovits; Xenofon Koutsoukos; Gabor Karsai; Nicholas Kottenstette; Panos Antsaklis; Vijay Gupta; Bill Goodwine; John Baras; and ShigeWang. Toward a science of cyber-physical system integration. Proceedings of the IEEE; 100(1):29–44; 2012.

[59] Serdar Uckun. Meta II: Formal co-verification of correctness of large-scale cyber-physical systems during design. Technical report; Palo Alto Research Center; 2011.

[60] Y. Umeda; H. Takeda; T. Tomiyama; and H. Yoshikawa. Function; behaviour; and structure. Applications of artificial intelligence in engineering V; 1:177–194; 1990.

[61] Thom J. van Beek; Mustafa S. Erden; and Tetsuo Tomiyama. Modular design of mechatronic systems with function modeling. Mechatronics; 20(8):850 – 863; 2010.

[62] A. Votintseva; P. Witschel; and A. Goedecke. Analysis of a complex system for electrical mobility using a model-based engineering approach focusing on simulation. Procedia Computer Science; 6(0):57 – 62; 2011.

[63] Wolfgang Wahlster. Industry 4.0: From smart factories to smart products. In Forum Business Meets Research BMR 2012; 2012.

[64] Wolfram. Systemmodeler. http://www.wolfram. com/system-modeler/.

[65] Wolfram. Systemmodeler. http://www.wolfram. com/system-modeler/industry-examples/ automotive-transportation/.

[66] Stefan Wölkl and Kristina Shea. A computational product model for conceptual design using SysML. ASME Conference Proc.; 2009(48999):635–645; 2009.

Citations in Crossref