Content

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