Abstract
This work proposes a method for the development of cyber-physical systems starting from a high-level representation of the control algorithm, performing a formal analysis of the algorithm, and co-simulating the algorithm with the controlled system both at high level, abstracting from the target processor, and at low level, i.e., including the emulation of the target processor. The expected advantages are a smoother and more controllable development process and greater design dependability and accuracy with respect to basic model-driven development. As a case study, an automatic transmission control has been used to show the applicability of the proposed approach.
Work partially supported by the EPI (European Processor Initiative) project, EU-H2020 and by the Italian Ministry of Education and Research (MIUR) in the framework of the CrossLab project (Department of Excellence).
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Accelera: TLM-2.0 Language Reference Manual (2009). https://www.accellera.org/images/downloads/standards/systemc/TLM_2_0_LRM.pdf
Bellard, F.: QEMU, a fast and portable dynamic translator. In: Proceedings of the Annual Conference on USENIX Annual Technical Conference, ATEC 2005, p. 41. USENIX Association, USA (2005)
Bernardeschi, C., Domenici, A., Masci, P.: A PVS-simulink integrated environment for model-based analysis of cyber-physical systems. IEEE Trans. Softw. Eng. 44(6), 512–533 (2018)
Blochwitz, T., et al.: Functional mockup interface 2.0: the standard for tool independent exchange of simulation models. In: Proceedings of the 9th International MODELICA Conference, pp. 173–184. No. 76 in Linköping Electronic Conference Proceedings (2012)
Bohrer, B., Rahli, V., Vukotic, I., Völp, M., Platzer, A.: Formally verified differential dynamic logic. In: Proceedings of the 6th ACM SIGPLAN Conference on Certified Programs and Proofs, CPP 2017, pp. 208–221. ACM (2017). https://doi.org/10.1145/3018610.3018616
Charif, A., Busnot, G., Mameesh, R.H., Sassolas, T., Ventroux, N.: Fast virtual prototyping for embedded computing systems design and exploration. In: Chillet, D. (ed.) Proceedings of the Rapid Simulation and Performance Evaluation: Methods and Tools, RAPIDO 2019, Valencia, Spain, 21–23 January 2019, pp. 3:1–3:8. ACM (2019). https://doi.org/10.1145/3300189.3300192
Cimatti, A., Griggio, A., Mover, S., Tonetta, S.: HyComp: an SMT-based model checker for hybrid systems. In: Baier, C., Tinelli, C. (eds.) TACAS 2015. LNCS, vol. 9035, pp. 52–67. Springer, Heidelberg (2015). https://doi.org/10.1007/978-3-662-46681-0_4
De Moura, L., Bjørner, N.: Satisfiability modulo theories: introduction and applications. Commun. ACM 54(9), 69–77 (2011)
Domenici, A., Fagiolini, A., Palmieri, M.: Integrated simulation and formal verification of a simple autonomous vehicle. In: Cerone, A., Roveri, M. (eds.) SEFM 2017. LNCS, vol. 10729, pp. 300–314. Springer, Cham (2018). https://doi.org/10.1007/978-3-319-74781-1_21
Franchetti, F., et al.: High-assurance spiral: end-to-end guarantees for robot and car control. IEEE Control Syst. 37(2), 82–103 (2017). https://doi.org/10.1109/MCS.2016.2643244
Gomes, C., Thule, C., Broman, D., Larsen, P.G., Vangheluwe, H.: Co-simulation: a survey. ACM Comput. Surv. (CSUR) 51(3), 1–33 (2018)
Henzinger, T.A.: The theory of hybrid automata. In: Inan, M.K., Kurshan, R.P. (eds.) Verification of Digital and Hybrid Systems. NATO ASI Series (Series F: Computer and Systems Sciences), vol. 170, pp. 265–292. Springer, Heidelberg (2000). https://doi.org/10.1007/978-3-642-59615-5_13
IEEE: IEEE Standard for Standard SystemC Language Reference Manual. IEEE Std 1666–2011 (Revision of IEEE Std 1666–2005), pp. 1–638 (2012)
Imperas Ltd.: Open Virtual Platforms (2020). http://www.ovpworld.org/
Larsen, P.G., et al.: Integrated tool chain for model-based design of Cyber-Physical Systems: the INTO-CPS project. In: 2016 2nd International Workshop on Modelling, Analysis, and Control of Complex CPS (CPS Data), pp. 1–6, April 2016. https://doi.org/10.1109/CPSData.2016.7496424
Masci, P., et al.: Combining PVSio with Stateflow. In: Badger, J.M., Rozier, K.Y. (eds.) NFM 2014. LNCS, vol. 8430, pp. 209–214. Springer, Cham (2014). https://doi.org/10.1007/978-3-319-06200-6_16
Mauro, G., Thimbleby, H., Domenici, A., Bernardeschi, C.: Extending a user interface prototyping tool with automatic MISRA C code generation. In: Dubois, C., Masci, P., Méry, D. (eds.) Third Workshop on Formal Integrated Development Environments. Electronic Proceedings in Theoretical Computer Science, vol. 240, pp. 53–66. Open Publishing Association (2017). https://doi.org/10.4204/EPTCS.240.4
Oladimeji, P., Masci, P., Curzon, P., Thimbleby, H.: PVSio-web: a tool for rapid prototyping device user interfaces in PVS. In: FMIS 2013, 5th International Workshop on Formal Methods for Interactive Systems, London, UK, 24 June 2013 (2013)
Owre, S., Rushby, J.M., Shankar, N.: PVS: a prototype verification system. In: Kapur, D. (ed.) CADE 1992. LNCS, vol. 607, pp. 748–752. Springer, Heidelberg (1992). https://doi.org/10.1007/3-540-55602-8_217
Palmieri, M., Bernardeschi, C., Masci, P.: A framework for FMI-based co-simulation of human-machine interfaces. Softw. Syst. Model. 19(3), 601–623 (2020)
Palmieri, M., Macedo, H.D.: Automatic generation of functional mock-up units from formal specifications. In: Camara, J., Steffen, M. (eds.) SEFM 2019. LNCS, vol. 12226, pp. 27–33. Springer, Cham (2020). https://doi.org/10.1007/978-3-030-57506-9_3
Platzer, A., Quesel, J.-D.: KeYmaera: a hybrid theorem prover for hybrid systems (system description). In: Armando, A., Baumgartner, P., Dowek, G. (eds.) IJCAR 2008. LNCS (LNAI), vol. 5195, pp. 171–178. Springer, Heidelberg (2008). https://doi.org/10.1007/978-3-540-71070-7_15
Püschel, M., et al.: SPIRAL: code generation for DSP transforms. Proc. IEEE 93(2), 232–275 (2005). https://doi.org/10.1109/JPROC.2004.840306
Saidi, S.E., Charif, A., Sassolas, T., Le Guay, P.G., Souza, H.V., Ventroux, N.: Fast virtual prototyping of cyber-physical systems using SystemC and FMI: ADAS use case. In: Proceedings of the 30th International Workshop on Rapid System Prototyping (RSP 2019), pp. 43–49 (2019)
Selic, B.: The pragmatics of model-driven development. IEEE Softw. 20(5), 19–25 (2003). https://doi.org/10.1109/MS.2003.1231146
Synopsys: Virtualizer (2020). https://www.synopsys.com/verification/virtual-prototyping/virtualizer.html
Ventroux, N., et al.: SESAM: an MPSoC simulation environment for dynamic application processing. In: 2010 10th IEEE International Conference on Computer and Information Technology, pp. 1880–1886 (2010). https://doi.org/10.1109/CIT.2010.322
Acknowledgements
The authors would like to thank the reviewers for their useful comments and suggestions.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Appendix
Appendix
Table 3 below shows the transition definitions of the simplified Emucharts diagram shown in Fig. 13. Functions up_th and dw_th implement the shift schedule specifications from Tables 1 and 2, respectively.
Simplified Emucharts diagram for the shift logic automaton.
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this paper
Cite this paper
Bernardeschi, C. et al. (2021). Cross-level Co-simulation and Verification of an Automatic Transmission Control on Embedded Processor. In: Cleophas, L., Massink, M. (eds) Software Engineering and Formal Methods. SEFM 2020 Collocated Workshops. SEFM 2020. Lecture Notes in Computer Science(), vol 12524. Springer, Cham. https://doi.org/10.1007/978-3-030-67220-1_20
Download citation
DOI: https://doi.org/10.1007/978-3-030-67220-1_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-67219-5
Online ISBN: 978-3-030-67220-1
eBook Packages: Computer ScienceComputer Science (R0)