Towards Modeling Cyber-Physical Systems with SysML/MARTE/pCCSL

Cyber-Physical Systems (CPS) are networks of heterogeneous embedded systems immersed within a physical environment. Modeling such heterogeneous systems is actively researched. However, there still lacks a systematic approach to model characteristics of CPS. To solve the problem, we propose a flexible co-modeling approach that relies on SysML/MARTE/pCCSL to capture different aspects of CPS, including structure, behavior, clock constraints and NFP. The novelty of our approach lies in the use of logical clocks and SysML/MARTE/pCCSL to drive and coordinate different models, which supports a standard language-based modeling for CPS. To capture the characteristics of CPS such as stochastic behavior and continuous behavior, we extend some meta-models of SysML/MARTE. For the block diagram, we extend it with four new stereotypes of blocks and the type of model. We adopt a new stereotype FMIConnection to describe the information transmission between blocks, which denotes that the blocks will be exported as corresponding FMU components. It will be of great benefit to the co-simulation of CPS. For the state machine diagram, we attach Ordinary Differential Equation (ODE) and TimedDelay to a state, which models the continuous behavior and stochastic time delay. The consistency between various models is specified with pCCSL. To implement our approach, we develop the toolset based on GEMOC. Finally, to demonstrate the feasibility of our co-modeling approach, we present some multi-view models of an energy-aware building as a case study.