A
AATC, see Advanced Automatic Train Control
Absent-event approach, 268
Abstract buffer, 278
Abstraction levels, 270–271, 286
Abstract semantic space, 305
Abstract specification language, 309–310
Accelerated simulation, 220, 226
Access Point Event Simulator (APES), 215
Active event set, 392
Active objects, 141
Active–passive interface connections, 265, 268
Active service model interface, 264
Activity-based simulation, 6
Activity diagrams, 131
Actor-oriented programming model, 207
Adams-Bashforth approach, 27
Advanced Automatic Train Control (AATC), 134–135, 292, 293, 294
Advanced General Aviation Transport Experiment (AGATE), 334
Aerodynamic derivatives, 339
Aerospace application, 235
AES, see All-electric ship
AGATE, see Advanced General Aviation Transport Experiment
Aggregate-Level Simulation Protocol (ALSP), 373–374
Algebraic equations, local singularities in, 610–611
Algebraic loops, 562
Algorithms Physiologically Derived to Promote Learning Efficiency (APPLE), 380
All-electric ship (AES), 233–234
Allocation Modeling (Alloc), 148
ALSP, see Aggregate-Level Simulation Protocol
Analog computers, 13
APCI, see Application Protocol Control Information
API, see Application programming interface
APPLE, see Algorithms Physiologically Derived to Promote Learning Efficiency
Application programming interface (API), 248, 361, 524
Application Protocol Control Information (APCI), 356
Application Service Data Unit (ASDU), 356
Application-specific instruction set processor (ASIP), 284–285, 286
Arbitrary event processes
concurrent simulation approach for notation and definitions, 402–404
observed and constructed sample path coupling dynamics, 404–408
Architecture Analysis and Design Language (AADL), 149
Architecture modeling, 272–273, 277
Army Research Institute report, 381–382
Artop project code, 536
ASA, see Augmented system analysis
ASDU, see Application Service Data Unit
ASIP, see Application-specific instruction set processor
Assignment statement, 210
Asynchronous activities, TDL, 164
Atomic Rational Time Advance, 70
Atomic RT-DEVS model, 114
Augmented system analysis (ASA), 391, 399–400
Automatic control (autopilot), 332
Automotive applications, 232–233
Automotive domain, 125
Automotive Open System Architecture (AUTOSAR), 523
behavioral level, 528
BSW runnable, 545
deployment tools, 530
goal of, 526
simulation and analysis, models for
in development process, 537–538
VFB and behavior level, 538
standard SW platform, 527
SWCs, 524
Automotive RT simulation, modeling domains in, 503
Autopilot function in heading control, 339, 340
AUTOSAR, see Automotive Open System Architecture
Auxiliary propulsion systems, 233
B
Backward differentiation, 13
Balanced hybrid simulation, 22–24
BART system, see Bay Area Rapid Transit system
Basic software (BSW), 524
Battery model, 552
Bay Area Rapid Transit (BART) system, 134, 135, 149, 150, 292, 293
Behavior
class, 141
Bifurcated design process, 185–187
Binding-time analysis, 110
Black-box
approach, 506
components, 270
Blocking service request, 264, 265
Block-structured languages, 14
Body-worn system, 378
BON, see Business Oriented Notation
Boolean functions, 90
Boost.Fusion, 108
Bouncing ball simulation, 19
BSW, see Basic software
Buffer
Built-in wind model, 337
Business Oriented Notation (BON), 303
C
C++
implementation, 367
template metaprogramming, 106–108
Canadair Regional Jet 200 (CRJ200) series, 338
CD++, 66
CDTRP, see Controller design-test-redesign platform
Centralized simulation, 56
CFD, see Computational fluid dynamics
Channel
model, 193
usage phase, 191
Charmy tool, 303
Check Train Status sequence diagram, 137
Chrona’s Validator, 215
Class diagrams, 131
domain model as, 138
UML, 133
Client/server communication ports, 528
Climate control system, 576
Closed-loop
real-time simulation, 576
simulation, architecture of, 204
testing, 230
CM, see Concurrency manager
CO condition, see Constructability condition
Code encapsulation concept, 334
Code equivalence problem, 244, 245
Code generation, 170
Cognitive radio (CR)
network
design procedure and implementation environment, 188–189
single cognitive modem, design of, 190–192
Combined continuous-discrete benchmark, 22, 23
Commands Received message, 320–321
Commercial-off-the-shelf (COTS), 185, 227, 333, 382, 383
Commercial simulation tools, 228
Common Intermediate Language, 110
Common random numbers (CRN), 392
Communicating Sequential Processes (CSP), 303
Communication diagrams, 131, 133
Communication-oriented design methods, 37
Complex control systems, 235
Complex electric systems, testing of, 230
Compliant model, 560
Compliant vehicle model, 559, 560
Component diagram, 131
Component Implementation, 532
Component Internal Behavior Description, 532
Compositionality, TDL, 162
Comprehensive methodology, 125
Computational approach, 36
Computational fluid dynamics (CFD), 503–504
Concurrency manager (CM)
Concurrent simulation techniques, 390
CONDUIT, see Control Designer’s Unified Interface
Connect-and-play capability, 334, 335
Conservative scheduling, 7
Conservative synchronization, 6
Consistency
modeling language, 128
UML, 153
Constraint matrix, 609
Constraints semantics, 305–308
Constructability (CO) condition, 391, 397
Constructed sample path coupling dynamics, 404–408
Context switch capabilities, 250
Continuous mathematical model, 9
continuous simulations
example of, 15
Continuous simulations
example of, 15
Control Designer’s Unified Interface (CONDUIT), 334
Controller algorithm codes, 334–335
Controller design-test-redesign platform (CDTRP)
categorization of modes, 468–470
experimental setup of developed, 471, 472
plant emulator card with PIC microcontroller, 470–471
structure and functions of, 466–467
taxonomy of real-time simulation modes, 463, 464, 467–468
verification and validation of
benchmark plants, 475
controller design-test-redesign procedure, 475–482, 483
mixed operating modes, 482, 484
Controller synthesis case, 463
Control station, 350
Control system
application, 164
tester simulator, 444
Conventional simulations, 183, 190, 192
Cooperative robotic system, 57
Core elements, 145
COTS, see Commercial-off-the-shelf
Coupled models, 66, 72, 73, 113, 114
CR, see Cognitive radio
Crankshaft position sensor, 545
CRC, see Cyclic redundancy check
Critica infrastructures (CI), 351
CRJ200 series, see Canadair Regional Jet 200 series
CRN, see Common random numbers Cryptography, 352
CSP, see Communicating Sequential Processes
Custom Computer Services C Program Compiler Version 4.084 software, 466
Cyber defense technology experimental research (DETER), 350, 352
Cycle accurate models, 260
Cyclic redundancy check (CRC), 350, 354
D
DAE, see Differential algebraic equations
DARPA, see Defense Advanced Research Projects Agency
DAS, see Digital Analog Simulator
Data dependencies, resolving, 172
Dataflow-oriented design approach, 37
DC, see DynamicsController
DDSBE, see Debriefing Distributed Simulation-Based ExercisesDeadlock system, 393
Debriefing Distributed Simulation-Based Exercises (DDSBE), 381
Decision-making model, 57
Defense Advanced Research Projects Agency (DARPA), 334, 373
Defense Modeling and Simulation Office (DMSO), 374, 375
Defense training community, 373
Delta-delay
based representation, 275
mechanism, 276
Department of Defense Architecture Framework, 126
Department of Energy (DOE), 351
Deployed execution, 56
Deployment diagrams, 131
DES, see Discrete event systems
Description logic (DL), 298
Design methodology, 246, 252–256
Design space exploration (DSE), 244
DETER, see Cyber defense technology experimental research
DEVS, see Discrete Event System Specification
DEVSJAVA models, 47, 50, 51, 53, 189
Differential algebraic equations (DAE)
Differential equations in mathematical model, 13
Digital Analog Simulator (DAS), 13
Digital signal processors (DSPs), 26, 182, 188, 227
Digital system models, 6
DIS, see Distributed Interactive Simulation
Discrete-based hybrid simulation, 21–22
Discrete event modeling, 274
Discrete event simulation, 204, 205
Discrete event systems (DES), 391, 392–394
Discrete Event System Specification (DEVS), 53, 183
atomic model, 65
cognitive network, 194
as formalized aid to system design, 44–45
graph, 67
model-based system design, 40
real-time distributed systems, design aid and verification for
P2P-based distributed real-time systems, 55–56
RTI, 50
UML-RT, 49
real-time distributed VE, design aid for, 45–49
simulation, metaprogramming application to, 115–117
verification methodology, 71–80
Discrete optimization approach, 412
Discrete-time compensation techniques, 222
Discrete-time simulation, 220, 455
Dismounted Infantry Virtual After Action Review System (DIVAARS), 381
Distributed AAR, human effort required for, 380–381
Distributed generation (DG), integration of, 230
Distributed Interactive Simulation (DIS), 373–374
Distributed real-time
cooperative robotic systems, 56–59
simulations, 25
system semantics, ontology for, 307
Distributed real-time simulation-based training, 372–373
challenges
effectiveness assessment, lack of, 381–382
instructional strategies, 379–380
Distributed simulation, 56, 390
DIVAARS, see Dismounted Infantry Virtual After Action Review System
DL, see Description logic
DML, see Domain Modeling Language
DMM, see Dynamic metamodeling
DMSO, see Defense Modeling and Simulation Office
attacking, 356
protocol, 358
TCP/IP, 363
DO-178B standard, 235
Domain architectures, 376
Domain Modeling Language (DML), 353
and EMS configuration, 365
network topologies, 364
PowerWorld, 360
Domain-specific languages (DSLs), 101–105
Domain specific modeling language (DSML), 421–422
Domain-specific optimization, 111
DO-254 standard, 235
Drive cycle simulations, 576
Drive design pattern, integrator as, 456
Driver function, 84
DSE, see Design space exploration
DSLs, see Domain-specific languages
DSML, see Domain specific modeling language
dSPACE platform, 572
DSPs, see Digital signal processors
D-UML, 155
Duration constraints, 147
Dymola, 571
Dynamic allocation scheme vs. fixed resource allocation vector, 414
Dynamic consistency, 297
Dynamic engine thermal model, 574
Dynamic metamodeling (DMM), 300
Dynamic resource allocation, 412–415
DynamicsController (DC), 201, 203
E
Earliest deadline first (EDF), 249
ECC, see Engine cycle calculation
ECD++ toolkit, implementation on, 84–88
ECS, see Engine Controller System
ECU, see Electronic control unit
EDF, see Earliest deadline first
EDSLs, see Embedded domain-specific languages
Education application, real-time simulation, 236–237, 238
Efficient system design, 35
EGR valve, see Exhaust gas recirculation valve
Eiffel, 304
Electric train networks, 233–234
Electromagnetic transient (EMT) simulators, 223
Electronic control unit (ECU), 124, 530–531
Elementary specification 〈ELEM-SPEC〉, 308, 310, 311
Elevator
controller model, DEVS graph, 77, 78
model states, 75
RTA-DEVS models, 74
timed automata model, 76
Embedded code, 165
Embedded domain-specific languages (EDSLs), 103, 104
Embedded real-time (RT) software systems, 63
Embedded simulation, 441
Embedded system, typical architecture of, 201
Emergency Brake, 150
state-machine diagrams for, 152
Emerging applications, real-time simulation, 237–239
Energy Management System (EMS), 365–366, 367
Engine Controller System (ECS), 211, 213
Engine cycle calculation (ECC), 506–507
Engineering systems development process, 333
Environment inputs, 79
Environment timed automata model, 91
E-puck
controller DEVS model hierarchy, 82
robot, 81
robotic application
DEVS model specification, 81–84
ECD++ toolkit, implementation on, 84–88
e-puck models, executing, 88–89
Epuck0 atomic component
external transition function of, 85–86
state diagram, 83
ESL, see European Simulation Language
Ethernet Capture Effect, 420, 424–425
Euler integration method, 10, 26, 27
Euler method, 15
European Simulation Language (ESL), 17, 23
Event-based models, 442
Event-based simulation, 6
Event Matching algorithm, 400
Event routing, 117
Event-triggered activities, 164
Event Triggering Constraint, 534
Execution Order Constraint, 534
Exhaust gas recirculation (EGR) valve system
Expanding fidelity, 378
Experimental frames (EFs), 56, 58, 59
Expert analysis, 364
Explicit algorithms, 590
vs. implicit algorithms, 12
Explicit solvers, 590
Extension mechanisms, UML, 139
External transition functions, 67, 73, 75, 85, 117
Extract ECU-Specific Information, 531
ExtractHistory() function, 316
F
Factory acceptance test (FAT) simulation, 444–445
Failures Divergence Refinement (FDR), 303
Fair play concept, 377
Fast Fourier Transform (FFT), 195
Fast-switching power electronic devices, simulation of, 231
FAT simulation, see Factory acceptance test simulation
FCS, see Flight control system development process
FD-DEVS, see Finite and Deterministic DEVS
FDR, see Failures Divergence Refinement
Feasibility assumption, 401
Federal Communications Commission, 187
Federated Architecture, 524
Field-programmable gate arrays (FPGAs), 26, 227
FIFO, see First in first out
Filterbank sensing module, 190
Finite and Deterministic DEVS (FD-DEVS), 68
Finite state machine (FSM), 162, 442, 614–615
First in first out (FIFO), 248, 282, 283
First-order method, 11
FITE, see Future Immersive Training Environment
Fixed-cost simulation, 591
Fixed-step implicit solver, 590
Fixed-step solver, 584
Fixed time-step simulation, 220
Fixed vs. variable step routines, 11–12
Flat fading wireless channel, 194
Flight control system (FCS) development process, 331–332
challenges of, 341
code encapsulation concept, 334
Flight training device (FTD), 337
Flow dependency, UML, 142
FlowNet, 46
FMI, see Functional Mockup Interface
Formal composition techniques, 421–422
Formal design methods, 36
Formalized system design, 37, 39
Formal system specification language, 36
Formal techniques, 64
Forward Euler method, 505
4-speed automatic gearbox, 572
Fourth-order Runge-Kutta methods, 11
FPGAs, see Field-programmable gate arrays
Freeze mode, TDL module, 173
FSM, see Finite state machine
FTD, see Flight training device
Functional languages, 106
Functional Mockup Interface (FMI), 571
Function Call Creation, 543–544
Function-Call Subsystem, 170, 171, 172
Fundamental design method, 37
Future Immersive Training Environment (FITE), 378
G
Game-based learning (GBL), 443
Generic Component Model (GCM), 149
Generic Quantitative Analysis Modeling (GQAM), 149
Generic Resource Modeling (GRM), 148
Global Purpose Simulation System (GPSS), 102
gnu debugger plugin, 208, 209, 210
Governing equations, 20
Gradient-based optimization approach, 412
Graphical user interface for platform, 467
H
Handwritten simulator, 117
Hardware co-simulation, 214
Hardware description languages (HDL), 244
Hardware-in-the-loop (HIL), 182, 200, 225–226, 228, 518
combustion engines, advantages of, 512–513
and RCP, combining, 229
motor drive, 236
testing, 583
Hardware-in-the-loop (HITL) model, 333
Hardware Resource Modeling (HRM), 149
Hardware/software (HW/SW), 244
HDL, see Hardware description languages
Heterogeneous embedded systems, 261
Heterogeneous models of computation/communication, 155
HEV, see Hybrid electric vehicle
Hierarchical coupled model, 42
High-Level Application Modeling (HLAM), 148
High-level architecture (HLA)
protocol, 374
simulations, 25
High-speed real-time (HSRT)
numerical integration for, 26–28
HIL, see Hardware-in-the-loop
HITL model, see Hardware-in-the-loop model
HLA, see High-level architecture
HMI, see Human-machine interface
HSCB, see Human Social Culture Behavior
HSRT, see High-speed real-time
Human-machine interface (HMI), 443
Human Social Culture Behavior (HSCB), 378
HW/SW, see Hardware/software
Hybrid
DSLs, 103
Hybrid electric vehicle (HEV), 574
Hybrid simulations
time management for, 16
Hydraulic cylinder drives model, 454
Hydraulic models, 588
Hydraulic simulation models, 600
Hydraulics models, 607
Hydraulic steering system, 575
Hydraulic system models, 603
HYPERSIM™, 227
I
ICE simulation, see Internal combustion engine simulation
IEDs, see Intelligent electronic devices
Implicit algorithms vs. explicit algorithms, 12
Implicit solvers, 590
Incompressible fluid models, network equations for, 602–603
In-cylinder pressure
closed-loop control, 518
Infinite-state systems, 68
Informal methods, 64
Inline- integration method, 512
Input events filtering, 117
Instructional Systems Design (ISD), 374
Instruction set simulators (ISSs), 200, 214, 244, 246
Instructions generation, 101
Integrated Architecture, 524
Intelligent electronic devices (IEDs), 350
InteractionFragment, 317
Interactive flight control system development test bed, 334–338, 346
Interdisciplinary domains, 128, 154
Intermodel communication, 264, 265, 268
Internal combustion engine (ICE) simulation, 504
Internal constraint forces, 603
Internal DSLs, see Embedded domain-specific languages (EDSLs)
Internal transition function, 67, 86
Interoperability, 363, 375–377
Inter-runnable communication, 543
Interrupt service routine (ISR), 206, 207, 251
Invariability assumption, 401
Invertible systems, 403
ISD, see Instructional Systems Design
ISR, see Interrupt service routine
ISSs, see Instruction set simulators
Issue New Commands, 138
ITEA2 EUROSYSLIB projects, 570
ITEA2 MODELISAR projects, 570, 571
J
Jacobian matrix, 609
JModelica.org, 557
L
Language syntax, 528
Large-scale systems, 426
cooperative robotic, 58
formal composition techniques, 421–422
simulation techniques, 422–423
Legacy code, modeling and simulating, 214–215
Linear quadratic regulation (LQR) approach, 341
Linear simulation result, 343
Linear undamped pendulum, 490–491, 493
Linear velocity constraints, simulation with, 604–606
Link Trainer, 373
Linux RTAI operating system, 574
LISP Code, 106
Live, virtual, and constructive (LVC), 375
Live Virtual Constructive Architecture Roadmap (LVCAR), 376
Lock-free synchronization approach, 164
Logical architecture models, 126, 133
Logical execution time (LET), 162, 163
Logical models, 127
LOOP operator, 136
LQR approach, see Linear quadratic regulation approach
LVC, see Live, virtual, and constructive
LVCAR, see Live Virtual Constructive Architecture Roadmap
M
MAC layer module, 190
Main mode, TDL module, 173
Markov chains, 398
Markov processes, 400
MARTE systems, see Modeling and Analysis of Real-Time and Embedded systems
Mass matrix, 602
Mathematical models, 8, 9, 443
MathWorks MATLAB®, 617
MathWorks®, 581
MathWorks Simulink®, 611
MathWorks Symbolic Math Toolbox™, 605
MATLAB®, 189
7.04 code, 466
commands, 586
version 7.6 platform, 337
Matrix polynomial equations, 608–609
MBE, see Model-based engineering
MC, see MotorController
MDA®, see Model-Driven Architecture®
Mean value engine models (MVEMs), 507
Mechatronics applications, 236, 237
MessageOccurrenceSpecification, 316
Message Origination Time Tag (MOTT), 137
Metaclass, 139
Meta-metaclass Class, 130
MetaML language, 106
Metamodeling architecture, 129–131
Meta Object Facility (MOFTM), 130
C++ template, 107
definition of, 99
to DEVS simulation, application of, 115–117
techniques, comparison of, 111–112
MetaProgramming Library (MPL), 108
Metasimulator, 115
Metropolis, 215
MIDAS, see Modified Integration DAS
Minimum order dynamic equations, 607–608
Minimum order momentum equations, 605
Missing events, 403
Mixed-mode integration, 512, 571
Mixed modes, 467
Mobile audio processing platform
accuracy, 286
overview of, 284
Modbus protocol, 350, 351, 364
Model
composability, 377
methodology, 57
validation/verification, 510
Model-based design (MBD), 36, 227–230, 583
Model-based diagnostics, EGR valve system, 517
Model-based engineering (MBE), 289–290
multiview models and consistency challenges, 290–292
Model-based system design, 40
Model-checking algorithm, 68
Model-Driven Architecture® (MDA®), 291
Modelica
compiler, 567
language, 551
real-time language extensions and interfaces, 570–571
symbolic manipulation, 561–566
tool-specific features, 571–572
website, 552
Modelica Association, 551
Modelica standard library (MSL), 552, 555, 567
Modeling and Analysis of Real-Time and Embedded (MARTE) systems, 139–140, 290, 294, 319
nonfunctional properties annotations in, 147
TimedConstraints in, 148
Modeling and simulation (M&S), 36, 42, 56, 64, 373
Modeling and Simulation Coordination Office (MSCO), 374
Modeling languages, requirements for, 127–129
Models of computation (MoC), 172
clocked synchronous, 275
discrete-time, 270
process states, 268
service model concept, 269
Modern simulator, 237
Modified Integration DAS (MIDAS), 13
Modules, 162
Monte Carlo simulations, 226
MotorController (MC), 201, 203
Motor timed automata model, 90
MPSoCs, see Multiprocessor systems-on-chip
M&S, see Modeling and simulation
MSCO, see Modeling and Simulation Coordination Office
MSL, see Modelica standard library
MSPLs, see Multistage programming languages
Multidisciplinary approach, 236
Multidomain physical system modeling, 576
Multiparadigm language, 106
Multiple simulation tools, 223
Multiprocessor systems-on-chip (MPSoCs), 243
Multirate benchmark simulation, 29
Multirate simulation, HSRT, 28–30
Multistage programming concept, 99
Multistage programming languages (MSPLs), 105–108
MVEMs, see Mean value engine models
N
Next-generation Expeditionary Warfare Intelligent Training (NEW-IT), 380
NFP, see Nonfunctional Properties Modeling
Node-i-thread-i models, 53
Node model, 186
NoEvent operator, 563
Noise, vibration, and harshness (NVH), 558
Non-domain-specific optimization, 111
Nonfunctional properties, 128, 154
Nonfunctional Properties Modeling (NFP), 145–146
Noninterruption condition, 392
Nonlinear aircraft model, 339, 340
Nonlinear model for simulation, 341, 342
Nonlinear simulation, 344
Non-real-time applications, 16
Notion of service, 261
service model, 263
n-stage executions, 99
Numerical integration algorithm, 5, 12
NVH, see Noise, vibration, and harshness
O
OB condition, see Observability condition
OBD, see On-Board Diagnostics
Object Management Group® (OMG®), 124, 130, 140, 143, 144, 290
Object orientation concept, 456
Object-orient design approach, 38
Object-oriented formal system specification language, 39
Object-oriented modeling language, 18
Observability (OB) condition, 396
Observed sample path coupling dynamics, 404–408
OCP, see Open control platform
ODE, see Ordinary differential equations
OMG®, see Object Management Group®
On-Board Diagnostics (OBD), 513
Ontology, core elements of, 305, 306
Open control platform (OCP), 334
OpenModelica, 557
OpenVPN client, 362
Operating system (OS), 243
emulation layer, 253
Optimistic synchronization, 6
Optimizing real-time simulation, code generation and metaprogramming
concepts and definitions, 99–100
Ordinary differential equations (ODE), 551, 561, 562, 600
Original equipment manufacturers (OEM), 124, 571
OS, see Operating system
OutMotor output port, driver interface function for, 87–88
Output mapping, DEVS, 84
Overspecialization, 110
P
PADS, see Parallel and distributed simulation
Pantelides algorithm, 562
Parallel and distributed simulation (PADS), 371
Parameter abstraction, of small masses, 602
Parametric diagrams, 144
ParkingController (PC), 203
Passive objects, 141
Passive service model interface, 264
Patient visual object, 48
PC, see ParkingController
Perfect controller, 568
Modelica code, 569
Perfect controller model variant, 569
Perturbation effects, disturbance and parameter, 478
Perturbed fluid-aerodynamic force (moment), 339
Petri net-based approaches, 37, 39
Petri net programs, 101
Phantom event sources, 409
Physical DC motor plant, 477, 480
Physical simulators, adaptation of, 4
Physical system components, 185
PIC microcontroller 18F452, 466, 470
PID, see Proportional-integral-derivative
PIL, see Processor-in-the-loop
Pilot-in-the-loop (PITL) model, 333
PIM, see Platform-independent model
PITL model, see Pilot-in-the-loop model
Plant emulator card, hardware of, 470, 471, 472
Platform-based design approach, 215
Platform-independent model (PIM), 291
Platform mapping, 170
ASIPs, 285
mapping, 281
Platform specific model (PSM), 291
Plug-and-play capability, 334, 335
Pneumatic system, 589
Poisson process, 188
Polled report-by-exception, 368
Polynomial equations, solving systems of, 609–610
Portability, 161
Ports, TDL, 162
Port syntax, 528
Port-type incompatibility, 116
Positive mode, 615
POSIX-Thread, see Pthreads
PowerDEVS, 19
Power electronic converters, 224
Power generation applications, 230–232
Power network creation, 364–365
Power plant simulation, 229
PowerWorld, 350
EMS, 367
State Server, 360
pow function, 106
P2P-based distributed real-time systems, 55–56
P-Port, 527
Pressure-controlled servo valve, 611–612, 615
Primary users (PUs), 187, 193, 196
Process-based models, 443
Process-based simulation, 6
Processor-in-the-loop (PIL), 512
Process trainer simulations, 444
Producer–consumer application
abstract buffer, 278
body of producer service model, 278–279
framework, 277
processing element, 281, 282, 283
Profile diagrams, 140
Profile mechanism, 139
Program generator, definition of, 99
Programming language, 125, 126
Progressive simulation-based design (PSBD), 182
CR network
design procedure and implementation environment, 188–189
single cognitive modem, design of, 190–192
for networked real-time embedded systems
bifurcated design process for, 185–187
conventional simulation, 183
physical system experiment, 184
virtual environment simulation, 183–184
Promela model, 303
Proportional-integral-derivative (PID), 566, 567
control structure, 341
Proportional-integral-derivative-based closed-loop control, 495
ProtocolMessage class, 353, 363
ProtocolSession class, 353, 363
Prototype Verification System (PVS), 304
Prototyping modes, 468
PSBD, see Progressive simulation-based design
Pseudo-Transport Layer, 355, 356
PSM, see Platform specific model
Psychological fidelity, 377
as real-time concurrency model, 248–250
Ptolemy, 207
Ptolemy II integration, 172–174
PVS, see Prototype Verification System
integration, 251
Q
QoS-aware system, 52
Quality of service (QoS), 144
Quantitative performance estimation, 262
Quasi-Boolean logic, 301
〈QUERY〉, 311
Queuing Network Analysis Package 2 (QNAP2), 102
R
RACER tool, 298
RACOoN tool, 298
Random sensor inputs, environment model, 92
Rapid control prototyping (RCP), 224–225
Rapid prototyping
model, 333
of motor controller, 235
Rational Rose tool, 300
Rational time-advance DEVS (RTA-DEVS), 64, 72, 73
component, 74
external transition, 77
R&D, technological and instructional, 374
Real-time applications, 16
Real-time atomic model, 44
Real-time behavior, in validator tool, 201–203
Real-time concurrency manager, 250–251
Real-time concurrency model, Pthreads as, 248–250
Real-time DEVS (RT-DEVS), 40–44, 68, 112–114
Real-time distributed systems, 35
design aid and verification for
node-i-thread-i models, 53
P2P-based distributed real-time systems, 55–56
QoS-aware system, 52
RTI, 50
service queue AM, 51
task generation model, 53
UML-RT, 49
Real-time distributed VE, design aid for, 45–49
Real-time embedded systems, 184
Real-time hybrid simulations
HSRT
numerical integration for, 26–28
Real time immersive network simulation environment (RINSE), 350, 352, 365–366
C++ implementation, 367
OpenVPN server, 362
view, 366
Real-time interface (RTI), 50
Real-time language extensions and interfaces, 570–571
Real-time scheduler, 250
Real-time simulation, 24, 26, 97–98, 181, 443, 572
aerospace application, 235
all-electric ships and electric train networks, 233–234
automotive applications, 232–233
challenges of, 584
code generation and metaprogramming
concepts and definitions, 99–100
discrete-time simulation, 220
education application, 236–237, 238
electric drive and motor development and testing, 235–236
emerging applications, 237–239
mechatronics applications, 236, 237
modes, 463
moving from desktop to, 585–586
power generation applications, 230–232
rapid control prototyping, 224–225
SIL, 226
simulator bandwidth requirements, analysis of, 223–224
timing and constraints, 221–223
Real-time (RT) system, 139–140, 244, 249, 315
Real-time systems simulator (RTSS), 336–337
Real-time systems simulator and a flight training device (RTSS-FTD), 336, 337
Real-time (RT) techniques, 502
for automotive systems, 503–505
in engine simulation
modeling combustion engines approach, 506–508
model verification and validation, 510–511
implementations in automotive industry, 512–513
component diagnostics, 513
in-cylinder pressure feedback control, 518–519
Real-time units, 148
Real-Time Workshop® Embedded Coder™, 168
Reduced order state vector, 604–605
Reengineer legacy systems, 211–213
REF operator, 137
Register transfer level, 260
Regression
techniques, 509
Regular event list, 276
Relative velocity time dilation, 420
Relay, 350
Remote terminal units (RTUs), 350, 351
Renewable energy sources (RES), 230
Report-by-exception, 368
polling, 368
Reporting phase, 190
Requirement validation and verification (RV&V), 332–333
R-E-R mode, implementation of, 487
Reset Timer to Wait Commands, 322
Rigid drivetrain, 559
RINSE, see Real time immersive network simulation environment
Robot controller timed automata model, 89
Robotic systems, 57
Robot-in-the-loop simulation, 58, 193
Round-robin, 248
R-R-R operating mode, 468
RTA-DEVS, see Rational time-advance DEVS
RT-DEVS, see Real-time DEVS
RTE, see Run-time environment
RTOS, see Real-time OS
RTSS, see Real-time systems simulator
RTSS-FTD, see Real-time systems simulator and a flight training device
RT system, see Real-time (RT) system
RT techniques, see Real-time techniques
RTUs, see Remote terminal units
Rule-based approaches, 297–298
Run, definition of, 307
Run-time environment (RTE)
level for AUTOSAR process, 529–530
simulation at, 538
RV&V, see Requirement validation and verification
S
Safety control component, 150
Sample path constructability, 395
CO condition, 397
G/G/1/3 and G/G/1/2, state transition diagrams, 397, 398
OB condition, 396
problem, 391
Sample simulation, 554
SC, see Standard Clock; System calls
SCADA system, see Supervisory control and data acquisition system
Scalable Simulation Framework (SSF), 352
Schweitzer Engineering Laboratories (SEL) devices, 361
Scicos, 557
SDK, see Software development kit
SEC, see Software-Enabled Control
Secondary Base (SB) station model, 189
Secondary users (SUs), 187–188, 193, 196
S-E-E mode, 475
Select function, 117
SemiLinear operator, 563
Sender/receiver communication ports, 528
Sensing phase, 190
Sensitive server, 412
SEP, see Systems engineering process
Sequence diagram, 136
for Check Train Status, 137
for computing and delivering train commands, 151
Sequential function chart, 456
S-E-R mode, 475
noise disturbances in, 480–482
implementations
states, 268
Service queue AM, 51
S-function, 171, 172, 337, 338
SiE-WG, see Simulation in Europe Basic Research Working Group
Signatures detection algorithms, 432
SIL, see Software-in-the-loop
SimHydraulics models, 582, 588
Similarity assumption, 401
SIMNET, see Simulation Network
Simple Time package, 134
Simplified Communication diagram, 138
Simplified linearized dynamics model, 336
Simplified model-based engineering process, 126
Simplified vehicle models
compliant and, 559
with rigid drivetrain, 559
Simscape™, 581
Simscape physical network, 590, 593
Simula language, 8
Simulated motor drive, 235
Simulation
differential algebraic equations, 600–602
for operator training, 440–441
of plant and machinery, 444–445
real time, 443
recent developments and trends, 446
time step, 224
tools, 215
tool selection and program coding, 455–457
VE, 57
Simulation engine
discrete event simulation, 274–275
Simulation in Europe Basic Research Working Group (SiE-WG), 551
Simulation Language for Alternative Modeling (SLAM), 102
Simulation Network (SIMNET), 373
Simulation-specific instructional strategies, 379
Simulation speed
ASIPx1-system model, 286
investigated system models, 287
Simulator
technology, real-time, 226–227
training
control program, reduction of states, 453
hardware configuration of, 448
hardware expense, 452
machine states reduction, 452–453
requirement analysis of, 447–448
Simulator bandwidth requirements, analysis of, 223–224
Simulink®, 590
and MATLAB®, integration with, 168–172
(version 7.1) platform, 337
and Ptolemy II integration, 174
S-function, 171
Simulink extension Stateflow®, 168
Simultaneous internal events scheduling, 117
Single cognitive modem, 191, 197
simulation model of, 190
Single-step vs. multistep methods, 12
Singular value decomposition (SVD), 604
6-degree-of-freedom (DOF), 573
Sketching, 125
SLERT, see Suse Linux Enterprise Real-Time
Slot selection, 163
Smart grid, 350
Smooth operator, semantics of, 563
Soft real-time systems, 584
Software
Software components (SWCs), 524
Software co-simulation, 214
Software-defined radio (SDR), 182
Software development kit (SDK), 556
Software-Enabled Control (SEC), 334
Software-in-the-loop (SIL), 200, 201, 226, 512, 570
Software platform architecture, 524
Software Resource Modeling (SRM), 149
Sol, 572
Solid-state drive (SSD) flash drives, 435
Solver Configuration block, 590, 591, 593
Solver settings, tuning, 586–596
Solver technology, 582
S parallel servers, queueing system with, 410
SPIN model checker, 303
Spring-damper element, 559
SR models, see Synchronous reactive models
SSF, see Scalable Simulation Framework
Stability derivatives, 339
STA modeling framework, see Stochastic Timed Automaton modeling framework
Standard Clock (SC)
method, 391
State event, 16
State-free approach, 507
State invariability assumption, 401, 402
State-machine diagrams
for Emergency Brake, 152
for Train Controller, 138
Statement-structured languages, 14
State-of-the-art real-time simulators, 222
State-of-the-art technology, 232
StateSelect language element, 564
State-Space Nodal, 220
State-transition approach, 27–28
Static consistency, 297
Static polymorphism, 117
Station AATC system, 294
Stepwise model refinement approach, 183
Stereotypes, 139
Stochastic clock structure, 394
Stochastic Timed Automaton (STA) modeling framework, 392
Substation, 350
Superfluous operation, removal of, 117
Supervisory control and data acquisition (SCADA) system, 350, 351, 352, 361, 363, 364
SUs, see Secondary users
Suse Linux Enterprise Real-Time (SLERT), 575
SVD, see Singular value decomposition
SWCs, see Software components
Symbolic analysis, 562
Symbolic manipulation, 561–566
Synchronization Timing Constraint, 535
Synchronized Lorenz chaotic systems
analog hardware implementation of, 482, 484
master-slave synchronization of, 484, 485–488
Synchronous generators, 230–231
Synchronous reactive (SR) models, 525
SysML, 144
System call emulation, 246–248
System calls (SC), 246
input/output, 248
System Configuration
Description, 531
System-level performance estimation, 260–261
Systems engineering process (SEP), 331–332
System simulation concept, 333
T
Table lookup method, 358
Tag definition, 140
Tagged values, 140
Task clientTask, periodic execution of, 167
Task execution profile plots, 212
Task generation model, 53
Tasks inc, periodic execution of, 167
Task source code annotation, 207
TCIP, see Trustworthy Cyber Infrastructure for the power Grid
TCP/IP, see Transmission Control protocol/Internet protocol
TCP Nagle algorithm problem, 432
TDL, see Timing definition language
TDLModule actor, 173
TDL toolchain, 174
TDL:VisualCreatortool, 169, 170
TE, see Trap emulator
Tearing algorithm, 562
Technical architecture models, 126, 127, 133
Technology integration, 367
Template instantiation, 106
Thermal network model, 552
Thread-context switching, 278
Thyristor converter, 222
Time-based models, 442
Time coherence, 377
Time-constrained DEVS (TC-DEVS), 69
Time constraint, 147
Timed automata (TA), 38, 64, 65, 71, 75, 89, 90, 215, 392
environment model, 91
UPPAAL, controller model in, 77, 78
TimedConstraints, in MARTE, 148
TimedDescriptionEvent, 532
Time determinism, 161
Timed event, 16
Timed-functional model, 203
with DieCast
CPU scheduler and network emulation, 429
Ethernet Capture Effect, 430
paravirtualized vs. fully virtualized VMs, 428–429
Ethernet Capture Effect, 424–425
large-scale system, 426
TimedInstantObservation, 151
TimedObservation, 147
Timed Petri nets, 215
Time management
for continuous simulations, 9–13
for hybrid simulations, 16
Time model, UML, 154
Time, real-time systems, 128–129
Time safety, TDL, 161
Time synchronization/model composability, 377
Time-triggered activities, 164
Time-triggered system, 161
Time Warp, 8
Time Warping Algorithm (TWA), 391, 401, 405–408
for real-time optimization, 410–415
Timing definition language (TDL), 160, 211
MATLAB® and Simulink®, integration, 168–172
Ptolemy II, integration, 172–174
for MATLAB® and Simulink®, 168–169
toMSG(), 316
Touch sensor model, 48
Trade-off involving solver choice, 594
Traditional offline simulation software, 230
Train Controller, 150
Training simulator
control program, reduction of states, 453
hardware configuration of, 448
hardware expense, 452
machine states reduction, 452–453
requirement analysis of, 447–448
Transaction-level modeling, 265
Transformation methodology, 71
Transition, 318
Translation-based approaches, 298, 301
Transmission Control protocol/Internet protocol (TCP/IP), 350, 354
Transmitter emulator, 493, 494
Transparent distribution, 161
Transport Canada Authority, 337
Trap emulator (TE), 246
structure of, 247
for thread, 250
Trapezoidal rule, 592
Truncation error, 11
Trustworthy Cyber Infrastructure for the power Grid (TCIP), 352
Tuning parameters, 364
TWA, see Time Warping Algorithm
U
Ultra flexible reversing mill, 440
UML, see Unified Modeling Language
UML4SysML, 144
UML 2.x, 149
Unified Modeling Language (UML), 38, 124, 290
consistency
management, example of, 315–322
Issue New Commands, 138
metamodeling architecture, 129–131
modeling logical and technical architectures with, 133–134
real time, extensions for, 142–145
REF operator, 137
requirements modeling with, 131–133
abstract specification language, 309–310
notational preliminaries and system formalization, 308–309
queries and constraints, 305–308
specification language semantics, 310–312
sequence diagram, 136
for Check Train Status, 137
Unmanned underwater vehicle (UUV), 29, 30
Unsolicited report-by-exception, 368
Untimed automaton, 392
UPPAAL, 79
deadlock, verification for, 91
elevator verification results in, 80
model checker, 77
tool, 92
Utility function, 190
UUV, see Unmanned underwater vehicle
V
Validator library, 207
Validator tool suite
basic features of, 205
co-simulation, 214
embedded system validation and verification with, 208–213
legacy code, modeling and simulating, 214–215
real-time behavior in, 201–203
simulation
solid system verification and validation, 200–201
Value determinism, 161
Value Specification Language (VSL), 145–146, 320
Variable monitoring, 205
Variable-order algorithms, 13
Variable-step solver, 586, 590
Variable vs. fixed step routines, 11–12
Vehicle dynamics module, 336
Vehicle model architecture, 570
Verification, validation, and accreditation (VV&A), 375
Verilog, 285
Vertical consistency, 297, 313, 324–325
VFB, see Virtual Functional Bus
Virtual calls dispatch, 116–117
Virtual data aggregators, 363
Virtual DNP3 protocol, 358
Virtual environment simulation, 183–184, 187, 192, 193, 195
Virtual Functional Bus (VFB), 526
level for AUTOSAR system, 527–528
view, 533
Virtual Power System TestBed (VPST), 352
Virtual robots, 58
Virtual startup simulation, 444
Virtual Test Bed (VTB), 30
Virtual-time simulation mode, 88
Visual objects, behavior validation of, 47
VPST, see Virtual Power System TestBed
V-shape diagram, 332
VSL, see Value Specification Language
VTB, see Virtual Test Bed
VV&A, see Verification, validation, and accreditation
W
waitFor(event), 275
waitFor(service request, event type), 275
waitFor(time), 274
WaitPoint, 529
WARPED libraries, 423
when clause, 17
Wide open throttle (WOT), 560, 561
X
Xchek model, 301
X3D Scripts, 49
Xen, 426
xlinkit, 300
XML Metadata Interchange (XMI®), 300
Y
Y-chart approach, 261
Z
Zero-crossing events, 587
Ziegler-Nichols method, 479, 483
Zonal electric distribution systems (ZEDS), 234