Skip to main content
Log in

A systematic mapping of semi-formal and formal methods in requirements engineering of industrial Cyber-Physical systems

  • Published:
Journal of Intelligent Manufacturing Aims and scope Submit manuscript

Abstract

The requirements engineering of Industrial Cyber-Physical Systems is extremely challenging due to large system sizes, component heterogeneity, involvement of multi-discipline stakeholders and machines, and continuous evolution. Formal and semi-formal languages, techniques, tools and frameworks can assist by providing repeatable and rigorous structures for eliciting, specifying, analysing, verifying and maintaining requirements. Various approaches have been proposed, but a contemporary and comprehensive study providing a landscape of the state-of-the-art is currently missing. This article reports a systematic mapping study covering 93 primary studies published between 2009 and October 2020. We categorise surveyed studies by current research directions in the use of semi-formal and formal methods for Requirements Engineering phases for Industrial Cyber-Physical Systems. We also identify gaps in current research and develop a novel conceptual model capturing the relationship between available formalisms and Requirements Engineering activities. We find that extensive work has been carried out on the formal analysis and verification of safety and timings requirements. However, the use of semi-formal notations, works on key phases like requirements elicitation and management, and the adoption of industrial standards are largely missing. Moreover, we find no literature providing methods to handle privacy and trust requirements, which have become critical concerns in this area.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13

Similar content being viewed by others

Notes

  1. All data is available for download via https://github.com/FarzanaZahid/Systematic-Mapping-Study-.git in the form of an Excel worksheet.

References

  • Aceto, L., Ingólfsdóttir, A., Larsen, K G., & Srba, J. (2007). Reactive systems: Modelling, specification and verification (1st ed.). Cambridge University Press.

  • Adepu, S., Kang, E., Jackson, D., & Mathur, A. (2016, 05). Model-based security analysis of a water treatment system. In 2nd international workshop on software engineering for smart cyber-physical systems (sescps). Austin, Texas. https://doi.org/10.1145/2897035.2897041

  • Adepu, S., & Mathur, A. (2016a, 01). Introducing cyber security at the design stage of public infrastructures: A procedure and case study. In Complex systems design & management asia (Vol. 426, pp. 75–94). ChamSpringer. https://doi.org/10.1007/978-3-319-29643-2_6

  • Adepu, S., & Mathur, A. (2016b, 01). An investigation into the response of a water treatment system to cyber attacks. In Ieee 17th international symposium on high assurance systems engineering (hase). Orlando, United States. https://doi.org/10.1109/HASE.2016.14

  • Adepu, S., & Mathur, A. (2016c, 05). Using process invariants to detect cyber attacks on a water treatment system. In Ifip international conference on information security and privacy protection (pp. 91–104). Gent, Belgium. https://doi.org/10.1007/978-3-319-33630-5_7

  • Ahmad, E., Dong, Y., Larson, B., Lü, J., Tang, T., & Zhan, N. (2015). Behavior modeling and verification of movement authority scenario of Chinese train control system using AADL. Science China Information Sciences, 58(11), 1–20.

    Article  Google Scholar 

  • Ahmed, R., & Robinson, S. (2007). Simulation in business and industry: how simulation context can affect simulation practice? In Proceedings of the 2007 spring simulation multiconference-volume 3 (pp. 152–159). USA: Virginia.

  • Akella, R., & McMillin, B M. (2009). Model-checking BNDC properties in cyber-physical systems. In 2009 33rd annual ieee international computer software and applications conference (Vol. 1, pp. 660–663). Seattle, Washington, USA.

  • Akkaya, I., Derler, P., Emoto, S., & Lee, E. A. (2016). Systems engineering for industrial cyber-physical systems using aspects. Proceedings of the IEEE, 104(5), 997–1012.

    Article  Google Scholar 

  • Askarpour, M., Ghezzi, C., Mandrioli, D., Rossi, M., & Tsigkanos, C. (2019). Formal methods in designing critical cyber-physical systems. In From software engineering to formal methods and tools, and back (Vol. 11865, pp. 110–130). Porto, PortugalSpringer. https://doi.org/10.1007/978-3-030-30985-5_8

  • BA, K., & Charters, S. (2007). Guidelines for performing systematic literature reviews in software engineering (Tech. Rep.). The Pennsylvania State UniversityKeele University and Durham University Joint Report.

  • Bae, K., Krisiloff, J., Meseguer, J., & Ölveczky, P. (2015). 06). Designing and verifying distributed cyber-physical systems using multirate pals: An airplane turning control system case study. Science of Computer Programming, 103, 13–50. https://doi.org/10.1016/j.scico.2014.09.011.

    Article  Google Scholar 

  • Balasubramaniyan, S., Srinivasan, S., Buonopane, F., Subathra, B., Vain, J., & Ramaswamy, S. (2016). Design and verification of cyber-physical systems using truetime, evolutionary optimization and uppaal. Microprocessors and Microsystems, 42, 37–48.

    Article  Google Scholar 

  • Bartocci, E., Manjunath, N., Mariani, L., Mateis, C., Ničković, D., & Pastore, F. (2020). CPSDebug: a tool for explanation of failures in cyber-physical systems. In Proceedings of the 29th acm sigsoft international symposium on software testing and analysis (p. 569–572). New York, NY, USA. https://doi.org/10.1145/3395363.3404369

  • Bernardi, S., Gentile, U., Marrone, S., Merseguer, J., & Nardone, R. (2020). Security modelling and formal verification of survivability properties: Application to cyber–physical systems. Journal of Systems and Software, 110–746. Retrieved on 22 October 2020

  • Bourque, P., & Fairley, R E. (2014). Guide to the software engineering body of knowledge (swebok (r)): version 3.0. IEEE Computer Society Press.

  • Bouskela, D., & Jardin, A. (2018). Etl: a new temporal language for the verification of cyber-physical systems. In Annual ieee international systems conference (syscon) (pp. 1–8). Vancouver, BC, Canada. https://doi.org/10.1109/SYSCON.2018.8369502

  • Bouskela, D., Nguyen, T., & Jardin, A. (2017). Toward a rigorous approach for verifying cyber-physical systems against requirements. Canadian Journal of Electrical and Computer Engineering, 40(2), 66–73.

    Article  Google Scholar 

  • Bray, T. (2017, December). The JavaScript Object Notation (JSON) data interchange format (No. 8259). RFC 8259. RFC Editor. Retrieved from https://rfc-editor.org/rfc/rfc8259.txthttps://doi.org/10.17487/RFC8259

  • Bu, L., Wang, Q., Chen, X., Wang, L., Zhang, T., Zhao, J., et al. (2011). Toward online hybrid systems model checking of cyber-physical systems’ time-bounded short-run behavior. ACM SIGBED Review, 8(2), 7–10.

    Article  Google Scholar 

  • Cengic, G., & Akesson, K. (2010). On formal analysis of IEC 61499 applications, part b: Execution semantics. IEEE Transactions on Industrial Informatics, 6(2), 145–154. https://doi.org/10.1109/TII.2010.2040393.

    Article  Google Scholar 

  • Chen, Y., Dai, W., Zhang, Z., Pang, C., & Vyatkin, V. (2018). A case study on knowledge driven code generation for software-defined industrial cyber-physical systems. In Iecon 2018-44th annual conference of the ieee industrial electronics society (pp. 4687–4692). Washington, DC, USA.

  • Clarke, E M., & Zuliani, P. (2011). Statistical model checking for cyber-physical systems. In International symposium on automated technology for verification and analysis (pp. 1–12). Taipei, Taiwan.

  • Clavel, M., Durán, F., Eker, S., Lincoln, P., Martí-Oliet, N., Meseguer, J., et al. (2007). All about maude - a high-performance logical framework: How to specify, program and verify systems in rewriting logic. Berlin: HeidelbergSpringer-Verlag.

    Google Scholar 

  • Colombo, A. W., Bangemann, T., Karnouskos, S., Delsing, J., Stluka, P., Harrison, R., et al. (2014). Industrial cloud-based cyber-physical systems. The IMC-AESOP Approach, 22, 4–5. https://doi.org/10.1007/978-3-319-05624-1.

    Article  Google Scholar 

  • Colombo, A. W., Karnouskos, S., Kaynak, O., Shi, Y., & Yin, S. (2017). Industrial cyberphysical systems: A backbone of the fourth industrial revolution. IEEE Industrial Electronics Magazine, 11(1), 6–16. https://doi.org/10.1109/MIE.2017.2648857.

    Article  Google Scholar 

  • Dang, T., Mady, A E.D., Boubekeur, M., Kumar, R., & Moulin, M. (2016). Validation of industrial cyber-physical systems: an application to hvac systems. In International conference on complex systems design & management (pp. 57–69). Paris, France.

  • Davis, J A., Clark, M., Cofer, D., Fifarek, A., Hinchman, J., Hoffman, J., ... Wagner, L. (2013). Study on the barriers to the industrial adoption of formal methods. In International workshop on formal methods for industrial critical systems (pp. 63–77). Madrid, Spain.

  • Denno, P O., & Blackburn, M. (2014). Virtual design and verification of cyber physical systems: industrial process plant design. In Conference on systems engineering research (cser 2014). CA, USA.

  • Derigent, W., Cardin, O., & Trentesaux, D. (2020). Industry 4.0: contributions of holonic manufacturing control architectures and future challenges. Journal of Intelligent Manufacturing, 1–22. https://doi.org/10.1007/s10845-020-01532-x

  • Drozdov, D., Patil, S., Dubinin, V., & Vyatkin, V. (2019). Towards formal ASM semantics of timed control systems for industrial CPS. In 24th ieee international conference on emerging technologies and factory automation (etfa) (pp. 1682–1685). Zaragoza, Spain.

  • Drozdov, D., Patil, S., & Vyatkin, V. (2017). Formal modelling of distributed automation cps with cp-agnostic software. Service Orientation in Holonic and Multi-Agent Manufacturing, 35.

  • Du, D., Huang, P., Jiang, K., & Mallet, F. (2018). pCSSL: A stochastic extension to MARTE/CCSL for modeling uncertainty in cyber physical systems. Science of Computer Programming, 166, 71–88.

    Article  Google Scholar 

  • Dyba, T., Dingsoyr, T., & Hanssen, G K. (2007). Applying systematic reviews to diverse study types: an experience report. In First international symposium on empirical software engineering and measurement (esem 2007) (pp. 225–234). NW Washington, DC,United States.

  • Elmqvist, H., Boudaud, F., Broenink, J., Brück, D., Ernst, T., Fritzson, P., ... Mattsson, S. (1999). ModelicaTM-a unified object-oriented language for physical systems modeling. Tutorial and Rationale, versión, 1, .

  • Ezio, B., N, M., L, M., Cristinel, M., & D, N. (2019). Automatic failure explanation in CPS models. In 17th international conference on software engineering and formal methods (Vol. 11724, pp. 69–86). Oslo, Norway. https://doi.org/10.1007/978-3-030-30446-1_4

  • Feiler, P. H., & Gluch, D. P. (2012). Model-based engineering with aadl: an introduction to the sae architecture analysis & design language. Addison-Wesley.

  • Felizardo, K R., Nakagawa, E Y., Feitosa, D., Minghim, R., & Maldonado, J C. (2010). An approach based on visual text mining to support categorization and classification in the systematic mapping. In 14th international conference on evaluation and assessment in software engineering (ease) (pp. 1–10). Swindon,United Kingdom.

  • Ferrante, O., Di Guglielmo, L., Senni, V., & Ferrari, A. (2017). Application of model-based safety assessment to the validation of avionic electrical power systems. In International symposium on model-based safety and assessment (pp. 243–254). Trento, Italy.

  • Fink, G A., Edgar, T W., Rice, T R., MacDonald, D G., & Crawford, C E. (2017). Security and privacy in cyber-physical systems. In Cyber-physical systems (pp. 1–23). BostonAcademic Press. https://doi.org/10.1016/B978-0-12-803801-7.00009-2

  • Fisher, A., Jacobson, C A., Lee, E A., Murray, R M., Sangiovanni-Vincentelli, A., & Scholte, E. (2014). Industrial cyber-physical systems – iCyPhy. In Proceedings of the fourth international conference on complex systems design & management (pp. 21–37). France, Paris. https://doi.org/10.1007/978-3-319-02812-5_2

  • France, R., Evans, A., Lano, K., & Rumpe, B. (1998). The UML as a formal modeling notation. Computer Standards & Interfaces, 19(7), 325–334.

    Article  Google Scholar 

  • Franceschini, F., Maisano, D., & Mastrogiacomo, L. (2016). Empirical analysis and classification of database errors in Scopus and Web of Science. Journal of Informetrics, 10(4), 933–953. https://doi.org/10.1016/j.joi.2016.07.003.

    Article  Google Scholar 

  • Fuchs, A., Gürgens, S., Weber, D., Bodenstedt, C., & Ruland, C. (2010). Formalization of smart metering requirements. In Proceedings of the international workshop on security and dependability for resource constrained embedded systems (pp. 1–6). Vienna, Austria.

  • Gabmeyer, S., Kaufmann, P., Seidl, M., Gogolla, M., & Kappel, G. (2019). A feature-based classification of formal verification techniques for software models. Software & Systems Modeling, 18(1), 473–498.

    Article  Google Scholar 

  • Garcia, L., Mitsch, S., & Platzer, A. (2019). HyPLC: Hybrid Programmable Logic Controller Program Translation for Verification. In Proceedings of the 10th acm/ieee international conference on cyber-physical systems (pp. 47–56). Montreal Quebec, Canada. https://doi.org/10.1145/3302509.3311036

  • Gawanmeh, A., Alwadi, A., & Parvin, S. (2017). Formal verification of control strategies for a cyber physical system. In Ieee 37th international conference on distributed computing systems workshops (icdcsw) (pp. 91–96). Atlanta, GA, USA. https://doi.org/10.1109/ICDCSW.2017.59

  • Geraldes, A., Geretti, L., Bresolin, D., Muradore, R., Fiorini, P., Mattos, L., & Villa, T. (2018, 09). Formal verification of medical CPS: A laser incision case study. ACM Transactions on Cyber-Physical Systems, 2(4), 1–29. https://doi.org/10.1145/3140237

  • Gomez, F., Aguilera, M., Olsen, S., & Vanfretti, L. (2020, 04). Software requirements for interoperable and standard-based power system modeling tools. Simulation Modelling Practice and Theory, 103, 102095. https://doi.org/10.1016/j.simpat.2020.102095

  • Goorden, M., van de Mortel-Fronczak, J., Reniers, M., Fokkink, W., & Rooda, J. (2019). The impact of requirement splitting on the efficiency of supervisory control synthesis. In International workshop on formal methods for industrial critical systems (pp. 76–92). Amsterdam, The Netherlands.

  • Gracia, T J H., & García, A C. (2018). Sustainable smart cities. creating spaces for technological, social and business development. Boletín Científico de las Ciencias Económico Administrativas del ICEA, 6(12), https://doi.org/10.1007/978-3-319-40895-8

  • Grobelna, I. (2020). Formal verification of control modules in cyber-physical systems. Sensors, 20(18), 51–54. https://doi.org/10.3390/s20185154.

    Article  Google Scholar 

  • Gräßler, I., Bodden, E., Pottebaum, J., Geismann, J., & Roesmann, D. (2020, 01). Security-oriented fault-tolerance in systems engineering: a conceptual threat modelling approach for cyber-physical production systems. In Advanced, contemporary control (Vol. 1196, pp. 1458–1469). ChamSpringer. https://doi.org/10.1007/978-3-030-50936-1_121

  • Guttag, J. V., Horning, J. J., Garland, S., Jones, K., Modet, A., & Wing, J. (1993). Larch: languages and tools for formal specification. Springer.

  • Hachicha, M., Halima, R. B., & Kacem, A. H. (2019). Formal verification approaches of self-adaptive systems: A survey. Procedia Computer Science, 159, 1853–1862. https://doi.org/10.1016/j.procs.2019.09.357.

    Article  Google Scholar 

  • Hall, A. (2005). Realising the benefits of formal methods. In 7th international conference on formal engineering methods, icfem 2005. Berlin, Heidelberg. https://doi.org/10.1007/11576280_1

  • Hissam, S.A., Chaki, S., & Moreno, G A. (2015). High assurance for distributed cyber physical systems. In Proceedings of the. (2015). European conference on software architecture workshops (pp. 1–4). Dubrovnik Cavtat: Croatia.

    Google Scholar 

  • Hofmann, M., & Klinkenberg, R. (2013). Rapidminer: Data mining use cases and business analytics applications. Chapman and Hall/CRC,. https://doi.org/10.1201/b16023.

    Article  Google Scholar 

  • Hopcroft, J E., Motwani, R., & Ullman, J D. (2000). Introduction to automata theory, languages, and computation, 2nd edition. SIGACT News, 32, 60–65.

  • Huang, J., Zhu, Y., Cheng, B., Lin, C., & Chen, J.(2016). A petrinet-based approach for supporting traceability in cyber-physical manufacturing systems.Sensors, 16(3), 382.

  • Huang, L., Liang, T., & Kang, E. Y.(2019). Tool-supported analysis of dynamic and stochastic behaviors in cyber-physical systems. In Ieee 19th international conference on software quality, reliability and security (qrs) (pp. 228–239).Sofia, Bulgaria.

  • Huth, M., & Ryan, M.(2004). Logic in computer science: Modelling and reasoning about systems. USACambridge University Press.

  • Iglesias, A., Lu, H., Arellano, C., Yue, T., Ali, S., & Sagardui, G.(2017, 09). Product line engineering of monitoring functionality in industrial cyber-physical systems: A domain analysis. In Proceedings of the 21st international systems and software product line conference (pp. 195–204).Sevilla, Spain. https://doi.org/10.1145/3106195.3106223

  • Jalali, S., & Wohlin, C. (2012). Systematic literature studies: database searches vs. backward snowballing.In Proceedings of the. (2012). Acm-ieee international symposium on empirical software engineering and measurement (pp. 29–38). Sweden: Lund.

    Google Scholar 

  • Jeon, B., Yoon, J. S., Um, J., & Suh, S. H.(2020). The architecture development of industry 4.0 compliant smart machine tool system (smts).Journal of Intelligent Manufacturing, 31(8), 1837–1859. https://doi.org/10.1007/s10845-020-01539-4

  • Jue, W., Yineng, S., Wu, X., & Dai, W.(2019, 10). A semi-formal requirement modeling pattern for designing industrial cyber-physical systems. In 45th annual conference of the ieee industrial electronics society (pp. 2883–2888).Lisbon, Portugal. https://doi.org/10.1109/IECON.2019.8926665

  • Kallel, S.(2011).Specifying and monitoring non-functional properties (Unpublished doctoral dissertation) Technische Universität.

  • Kang, E. Y., Huang, L., & Mu, D.(2018). Formal verification of energy and timed requirements for a cooperative automotive system.In Proceedings of the 33rd annual acm symposium on applied computing (p. 1492–1499).New York, NY, USA. https://doi.org/10.1145/3167132.3167291

  • Kang, E. Y., Mu, D., Huang, L., & Lan, Q.(2018). Model-based verification and validation of an autonomous vehicle system (Vol. abs/1803.06103). arXiv preprint, arXiv:1803.06103

  • Kaur, A., Gulati, S., Samridhi& Singh.(2012). A comparative study of two formal specification languages: Z-notation and B-method. In Proceedings of the second international conference on computational science, engineering and information technology (pp. 524–531). Coimbatore UNK, India.

  • Keshav, S.(2007, July). How to read a paper.SIGCOMM Computer Communication Review, 37(3), 83–84. https://doi.org/10.1145/1273445.1273458

  • Khan, M. U., Sherin, S., Iqbal, M. Z., & Zahid, R. (2019). Landscaping systematic mapping studies in software engineering: A tertiary study. Journal of Systems and Software, 149, 396–436. https://doi.org/10.1016/j.jss.2018.12.018.

    Article  Google Scholar 

  • Kim, J., Chon, S., Park, J., & (2019). Suggestion of testing method for industrial level cyber-physical system in complex environment.In,. (2019). IEEE international conference on software testing, verification and validation workshops (icstw) (pp. 148–152). Xian: China.

  • Kitchenham, B., Pretorius, R., Budgen, D., Brereton, O P., Turner, M., Niazi, M., & Linkman, S.(2010). Systematic literature reviews in software engineering – a tertiary study.Information and Software Technology, 52(8), 792–805. https://doi.org/10.1016/j.infsof.2010.03.006

  • Knüppel, A., Jatzkowski, I., Nolte, M., Thüm, T., Runge, T., & Schaefer, I.(2020). Skill-based verification of cyber-physical systems.In International conference on fundamental approaches to software engineering. lecture notes in computer science (Vol. 12076, pp. 203–223). https://doi.org/10.1007/978-3-030-45234-6_10

  • Krueger, M., Walden, D., & Hamelin, R.(2011). Systems engineering handbook: A guide for system life cycle processes and activities (v. 3.2. 1).International Council on Systems Engineering (INCOSE), San Diego, CA.

  • Kulvatunyou, B., Wallace, E., Ivezic, N., & Lee, Y.(2014, 09). Toward manufacturing system composability analysis: A use case scenario.In Advances in production management systems (Vol. 439, pp. 658–666).Ajaccio, FranceSpringer. https://doi.org/10.1007/978-3-662-44736-9_80

  • Kumar, P., Goswami, D., Chakraborty, S., Annaswamy, A., Lampka, K., & Thiele, L.(2012). A hybrid approach to cyber-physical systems verification.In Dac ’12: The 49th annual design automation conference 2012 (pp. 688–696). San Francisco, California.

  • Lana, C A., Guessi, M., Antonino, P O., Rombach, D., & Nakagawa, E Y.(2019). A systematic identification of formal and semi-formal languages and techniques for software-intensive systems-of-systems requirements modeling.IEEE Systems Journal, 13(3), 2201–2212. https://doi.org/10.1109/JSYST.2018.2874061

  • LeMay, E., Ford, M D., Keefe, K., Sanders, W H., & Muehrcke, C. (2011). Model-based security metrics using adversary view security evaluation (advise). In 8th international conference on quantitative evaluation of systems(qest) (pp. 191–200).Aachen, Germany.

  • Li, F., Zhang, P., Huang, H., & Chen, G.(2016, 03). A model-based service-oriented integration strategy for industrial CPS.In International conference on industrial iot technologies and applications (Vol. 173, pp. 222–230).GuangZhou, China. https://doi.org/10.1007/978-3-319-44350-8_22

  • Li, N., Tsigkanos, C., Jin, Z., Hu, Z., & Ghezzi, C. (2020). Early validation of cyber-physical space systems via multi-concerns integration. Journal of Systems and Software, 170, 110–742.

    Google Scholar 

  • Lima, B., & Faria, J P.(2018). Towards real-time patient prioritization in hospital emergency services.In Ieee 20th international conference on e-health networking, applications and services (healthcom) (pp. 1–4).Ostrava, Czech Republic.

  • Lin, Q., Adepu, S., Verwer, S., & Mathur, A.(2018). Tabor: a graphical model-based approach for anomaly detection in industrial control systems.In Proceedings of the 2018 on asia conference on computer and communications security (pp. 525–536). Incheon Republic of Korea. https://doi.org/10.1145/3196494.3196546

  • Loucopoulos, P., & Karakostas, V. (1995). System requirements engineering. McGraw-Hill, Inc.

  • Loucopoulos, P., Kavakli, E., & Chechina, N.(2019). Requirements engineering for cyber physical production systems. In 31st international conference on advanced information systems engineering (pp. 276–291).Rome, Italy.

  • Lu, Y., Morris, K C., & Frechette, S.(2016). Current standards landscape for smart manufacturing systems.National Institute of Standards and Technology, NISTIR, 8107, 39.

  • Mancini, T., Mari, F., Melatti, I., Salvo, I., Gruber, J., Hayes, B., ... Elmegaard, L.(2018, 10). Parallel statistical model checking for safety verification in smart grids.In Ieee international conference on smart grid communications (smartgridcomm) (pp. 1–6). Aalborg, Denmark. https://doi.org/10.1109/SmartGridComm.2018.8587416

  • Mandayam K., S., & Steven P., M.(1995). Formal verification of an avionics microprocessor (Tech. Rep.).CSL-95-04Technical report, SRI International Computer Science Laboratory.

  • Mann, C.(2009). A practical guide to sysml: the systems modeling language.Kybernetes, 38, . https://doi.org/10.1108/k.2009.06738aae.004

  • Mashkoor, A., & Hasan, O.(2012). Formal probabilistic analysis of cyber-physical transportation systems. In International conference on computational science and its applications (Vol. 7335, pp. 419–434).Salvador de Bahia, Brazil,. https://doi.org/10.1007/978-3-642-31137-6_32

  • Menghi, C., Nejati, S., Gaaloul, K., & Briand, L C.(2019). Generating automated and online test oracles for simulink models with continuous and uncertain behaviors.In Proceedings of the 2019 27th acm joint meeting on european software engineering conference and symposium on the foundations of software engineering (p. 27–38). Tallinn, Estonia. https://doi.org/10.1145/3338906.3338920

  • Meseguer, J., & Ölveczky, P. (2012). Formalization and correctness of the pals architectural pattern for distributed real-time systems. Theoretical Computer Science, 451, 1–37. https://doi.org/10.1016/j.tcs.2012.05.040.

    Article  Google Scholar 

  • Metsälä, S., Gulzar, K., Vyatkin, V., Gröhn, L., Väänänen, E., Saikko, L., & Nyholm, M.(2017). Simulation-enhanced development of industrial cyber-physical systems using OPC-UA and IEC 61499. In International conference on industrial applications of holonic and multi-agent systems (pp. 125–139).Lyon, France.

  • Michael, T., Atif, M., Andreas, D., & Alexander, E.(2020). Ensuring safe and consistent coengineering of cyber physical production systems: A case study.Journal of Software Evolution and Press, 32(2), . https://doi.org/10.1002/smr.2308

  • Misson, H A., Gonçalves, F S., & Becker, L B.(2019). Applying integrated formal methods on CPS design. In Ix brazilian symposium on computing systems engineering (sbesc) (pp. 1–8).Natal, Brazil. https://doi.org/10.1109/SBESC49506.2019.9046084

  • Monostori, L., Kádár, B., Bauernhansl, T., Kondoh, S., Kumara, S., Reinhart, G., ... Ueda, K.(2016). Cyber-physical systems in manufacturing.Cirp Annals, 65(2), 621–641. https://doi.org/10.1016/j.cirp.2016.06.005

  • Mühlfelder, M.(2018). Analysis and design of a cyber-physical production system (CPPS) in sensor manufacturing. A case study.In Proceedings of the 20th congress of the international ergonomics association (iea 2018) (Vol. 822, pp. 391–400).Florence, ItalySpringer. https://doi.org/10.1007/978-3-319-96077-7_41

  • Nägele, T., Broenink, T., Hooman, J., Broenink, J., & (2019). Early analysis of cyber-physical systems using co-simulation and multi-level modelling.In,. (2019). IEEE international conference on industrial cyber physical systems (icps) (pp. 133–138). Taipei: Taiwan.

  • Neghina, M., Zamfirescu, C. B., & Pierce, K.(2019). Early-stage analysis of cyber-physical production systems through collaborative modelling.Software and Systems Modeling, 1–20.

  • Nejati, S., Gaaloul, K., Menghi, C., Briand, L C., Foster, S., & Wolfe, D. (2019). Evaluating model testing and model checking for finding requirements violations in simulink models. In Proceedings of the 2019 27th acm joint meeting on european software engineering conference and symposium on the foundations of software engineering (p. 1015–1025). Tallinn, Estonia. https://doi.org/10.1145/3338906.3340444

  • Nuzzo, P., Li, J., Sangiovanni-Vincentelli, A L., Xi, Y., & Li, D. (2019). Stochastic assume-guarantee contracts for cyber-physical system design.ACM Transactions on Embedded Computing Systems (TECS), 18(1), 1–26.

  • Nuzzo, P., Lora, M., Feldman, Y. A., Sangiovanni-Vincentelli, A. L., & (2018). CHASE: contract-based requirement engineering for cyber-physical system design.In,. (2018). Design, automation & test in europe conference & exhibition (date) (pp. 839–844). Germany: Dresden.

  • Object Management Group. (2011). UML profile for modeling and analysis of real-time and embedded systems (MARTE).Object Management Group.

  • Ölveczky, P C., & Meseguer, J.(2007). Semantics and pragmatics of real-time maude.Higher-order and symbolic computation, 20(1-2), 161–196.

  • Öztemel, E., & Gursev, S. (2020). Literature review of industry 4.0 and related technologies. Journal of Intelligent Manufacturing, 31, 127–182. https://doi.org/10.1007/S10845-018-1433-8.

    Article  Google Scholar 

  • Pagliari, L., Mirandola, R., & Trubiani, C.(2019, 07). Engineering cyber-physical systems through performance-based modelling and analysis: A case study experience report.Journal of Software: Evolution and Process, 32(1), . https://doi.org/10.1002/smr.2179

  • Penzenstadler, B., & Eckhardt, J.(2012). A requirements engineering content model for cyber-physical systems. In 2012 second ieee international workshop on requirements engineering for systems, services, and systems-of-systems (ress) (pp. 20–29).Chicago, USA.

  • Petersen, K., Vakkalanka, S., & Kuzniarz, L. (2015). Guidelines for conducting systematic mapping studies in software engineering: An update. Information and Software Technology, 64, 1–18. https://doi.org/10.1016/j.infsof.2015.03.007.

    Article  Google Scholar 

  • Rashid, A., & Hasan, O.(2020). Formal analysis of the continuous dynamics of cyber–physical systems using theorem proving.Journal of Systems Architecture, 112, .Retrieved on 22 October 2020 https://doi.org/10.1016/j.sysarc.2020.101850

  • Rashid, A., Siddique, U., & Tahar, S.(2019). Formal verification of cyber-physical systems using theorem proving.In International workshop on formal techniques for safety-critical systems (pp. 3–18). Shenzhen,China. https://doi.org/10.1007/978-3-030-46902-3_1

  • Ribeiro, F G C., Rettberg, A., Pereira, C E., & Soares, M S.(2016). An analysis of the value specification language applied to the requirements engineering process of cyber-physical systems.IFAC-PapersOnLine, 49(30), 42–47. https://doi.org/10.1016/j.ifacol.2016.11.123

  • Rocchetto, M., & Tippenhauer, N O. (2017). Towards formal security analysis of industrial control systems.In Proceedings of the. (2017). Acm on asia conference on computer and communications security (pp. 114–126). Abu Dhabi: United Arab Emirates.

    Google Scholar 

  • Roscoe, B.(1998). The theory and practice of concurrency. Prentice Hall.

  • Ruchkin, I. (2015) . Towards integration of modeling methods for cyber-physical systems.In The doctoral symposium at the 18th acm, ieee international conference of model-driven engineering languages and systems, . (2015). (models 2015. Ottawa: Canada.

  • Sakarovitch, J.(2009). Elements of automata theory. USACambridge University Press.

  • Saleh, M S., Althaibani, A., Esa, Y., Mhandi, Y., & Mohamed, A A. (2015). Impact of clustering microgrids on their stability and resilience during blackouts. In International conference on smart grid and clean energy technologies (icsgce) (pp. 195–200).Offenburg, Germany.

  • Sanford, F., Dov, D., & Yaniv, M.(2020).Modeling Standards. https://www.sebokwiki.org/wiki/Modeling_Standards. [Online; accessed 27-October-2020]

  • Sanwal, M U., & Hasan, O.(2013). Formal verification of cyber-physical systems: coping with continuous elements. In International conference on computational science and its applications (pp. 358–371).Ho Chi Minh, Vietnam.

  • Seceleanu, C. C., Johansson, M. E., Suryadevara, J., Sapienza, G., Seceleanu, T., Ellevseth, S. E., et al. (2017). Analyzing a wind turbine system: From simulation to formal verification. Science of Computer Programming, 133, 216–242. https://doi.org/10.1016/j.scico.2016.09.007.

    Article  Google Scholar 

  • Sepúlveda, S., Cravero, A., & Cachero, C. (2016). Requirements modeling languages for software product lines: A systematic literature review. Information and Software Technology, 69, 16–36.

    Article  Google Scholar 

  • Sharma, A., & Singh, M. (2013). Comparison of the formal specification languages based upon various parameters.IOSR Journal of Computer Engineering (IOSR-JCE), 11(5) 37–39.

  • Simon, F., Felex, W., Jivka, O., & (2019). A guideline for the requirements engineering process of SMEs regarding to the development of CPS.In,. (2019). 8th international conference on industrial technology and management (icitm) (pp. 85–94). Cambridge: United Kingdom.

  • Singh, N. K., Wang, H., & (2019). Virtual environment model of glucose homeostasis for diabetes patients.In,. (2019). IEEE international conference on industrial cyber physical systems (icps) (pp. 417–422). Taipei: Taiwan.

  • Sinha, R., Dowdeswell, B., Zhabelova, G., & Vyatkin, V.(2018). Torus: Scalable requirements traceability for large-scale cyber-physical systems.ACM Transactions on Cyber-Physical Systems, 3(2), . https://doi.org/10.1145/3203208

  • Sinha, R., Pang, C., Martínez, G S., Kuronen, J., & Vyatkin, V.(2015). Requirements-aided automatic test case generation for industrial cyber-physical systems. In 20th international conference on engineering of complex computer systems (iceccs) (pp. 198–201).Gold Coast, Australia.

  • Strauss, A., & Corbin, J.(1998). Basics of qualitative research techniques.Sage publications Thousand Oaks, CA.

  • Sun, H., Liu, J., Chen, X., & Du, D.(2015). Specifying cyber physical system safety properties with metric temporal spatial logic. In Asia-pacific software engineering conference (apsec) (pp. 254–260).New Delhi, India.

  • Takbiri, Y., & Amini, A.(2019, 11). A survey on large-scale requirements engineering. In 4th international conference on combinatorics, cryptography, computer science and computing.Tehran, Iran.

  • Theelen, B., Florescu, O., Geilen, M., Huang, J., Putten, P., & Voeten, J.(2007, 05). Software/hardware engineering with the parallel object-oriented specification language. In 5th ieee/acm international conference on formal methods and models for codesign (memocode 2007) (pp. 139–148).Washington, DC,United States. https://doi.org/10.1109/MEMCOD.2007.371231

  • Van-Roy, P., & Haridi, S.(2004). Concepts, techniques, and models of computer programming. MIT press.

  • Vegendla, A., Duc, A N., Gao, S., & Sindre, G.(2018). A systematic mapping study on requirements engineering in software ecosystems.Journal of Information Technology Research (JITR), 11(1), 49–69.

  • Vogel-Heuser, B., Schütz, D., Frank, T., & Legat, C.(2014). Model-driven engineering of manufacturing automation software projects–A SysML-based approach.Mechatronics, 24(7), 883–897.

  • von Birgelen, A., & Niggemann, O.(2018). Anomaly detection and localization for cyber-physical production systems with self-organizing maps.In Improve-innovative modelling approaches for production systems to raise validatable efficiency (Vol. 8, pp. 55–71).Springer Vieweg, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-57805-6_4

  • Wang, J.(2007). Petri nets for dynamic event-driven system modeling.Handbook of Dynamic System Modeling, 1, 24.

  • Wang, J., Song, Y., Wu, X., & Dai, W.(2019). A semi-formal requirement modeling pattern for designing industrial cyber-physical systems. In 45th annual conference of the ieee industrial electronics society (pp. 2883–2888).Lisbon, Portugal.

  • Wang, R., Song, X., Zhu, J., & Gu, M.(2011). Formal modeling and synthesis of programmable logic controllers.Computers in Industry, 62(1), 23–31.

  • Westman, J., & Nyberg, M.(2014). Specifying and structuring requirements on cyber-physical systems using contracts (Tech. Rep.). Machine Design (Dept.), Mechatronics.KTH, School of Industrial Engineering and Management (ITM).

  • Wieringa, R., Maiden, N., Mead, N., & Rolland, C.(2006). Requirements engineering paper classification and evaluation criteria: A proposal and a discussion.Requirements Engineering, 11(1), 102–107.

  • Wiesner, S., Hauge, J B., & Thoben, K. D.(2015). Challenges for requirements engineering of cyber-physical systems in distributed environments.In Ifip international conference on advances in production management systems (pp. 49–58). Tokyo, Japan.

  • Wiesner, S., Marilungo, E., & Thoben, K. D.(2017). Cyber-physical product-service systems–challenges for requirements engineering.International Journal of Automation Technology, 11(1), 17–28.

  • Wisniewski, R., Grobelna, I., & Karatkevich, A.(2020). Determinism in cyber-physical systems specified by interpreted petri nets.Sensors, 20(19), 55–65. https://doi.org/10.3390/s20195565

  • Wortmann, A., Barais, O., Combemale, B., & Wimmer, M.(2019). Modeling languages in industry 4.0: an extended systematic mapping study.Software and Systems Modeling, 1–28. https://doi.org/10.1007/s10270-019-00757-6

  • Wu, X., Goepp, V., & Siadat, A.(2020). Concept and engineering development of cyber physical production systems: A systematic literature review.The International Journal of Advanced Manufacturing Technology, 1–19.

  • Xu, B., & Zhang, L. (2013). Formal specification of cyber physical systems: three case studies based on clock theory.In Ieee international conference on green computing and communications and ieee internet of things and ieee cyber, physical and social computing (pp. 804–811). https://doi.org/10.1109/GreenCom-iThings-CPSCom.2013.143

  • Ye-Jing, L., Ming-Cai, C., Guang-Quan, Z., Yu-zhen, S., Fei, F., & Xing-hua, H.(2013). A model for vehicular cyber-physical system based on extended hybrid automaton.In 8th international conference on computer science & education (pp. 1305–1308).Colombo, Srilanka.

  • You, J., Li, J., Xia, S., & (2012) . A survey on formal methods using in software development. In Iet international conference on information science and control engineering, . (2012). (icisce 2012. Shenzhen, China.https://doi.org/10.1049/cp.2012.2353.

  • Yu, W., Dillon, T., Mostafa, F., Rahayu, W., & Liu, Y.(2019). Implementation of industrial cyber physical system: challenges and solutions. In Ieee international conference on industrial cyber physical systems (icps) (pp. 173–178).Taipei, Taiwan.

  • Yue, T., Ali, S., Zhang, M. (2015). RTCM: a natural language based, automated, and practical test case generation framework.In Proceedings of the. (2015). International symposium on software testing and analysis (pp. 397–408). USA: Baltimore MD.

    Google Scholar 

  • Zhan, H., Lin, Q., Wang, S., Talpin, J. P., Xu, X., & Zhan, N.(2019). Unified graphical co-modelling of cyber-physical systems Using AADL and Simulink/Stateflow.In 7th international symposium on unifying theories of programming 2019 (Vol. 11885, pp. 109–129).Porto, PortugalSpringer. https://doi.org/10.1007/978-3-030-31038-7_6

  • Zhang, L.(2011, 08). Formal specification for real time cyber physical systems using aspect-oriented approach. In Fifth international conference on theoretical aspects of software engineering (pp. 213–216). https://doi.org/10.1109/TASE.2011.37

  • Zhang, L.(2013a, 08). Aspect-oriented modeling for railway control systems.In Ieee international conference on information and automation, icia 2013 (pp. 236–241).Yinchuan, China. https://doi.org/10.1109/ICInfA.2013.6720302

  • Zhang, L.(2013b). Modeling railway cyber physical systems based on aadl. In 19th international conference on automation and computing (pp. 1–6).London, United Kingdom.

  • Zhang, L., & (2013c). Requirement analysis method for vehicular cyber physical systems.In Ieee 10th international conference on high performance computing and communications&,. (2013). IEEE international conference on embedded and ubiquitous computing (pp. 2096–2103). Okayama: Japan.

  • Zhang, L.(2013d). Requirement specification for transportation cyber physical systems.In Ieee international conference on green computing and communications and ieee internet of things and ieee cyber, physical and social computing (pp. 1486–1491).Beijing, China.

  • Zhang, L.(2013e). Specifying and modeling automotive cyber physical systems. In Ieee 16th international conference on computational science and engineering (pp. 603–610).Washington, DC, United States.

  • Zhang, L., & (2014). Modeling large scale complex cyber physical control systems based on system of systems engineering approach.In,. (2014). 20th international conference on automation and computing (pp. 55–60). Cranfield: UK.

  • Zhang, L., He, J., & Yu, W.(2013). Test case generation from formal models of cyber physical system.International Journal of Hybrid Information Technology, 6(3), 15–24.

  • Zheng, X., Julien, C., & (2015). Verification and validation in cyber physical systems: research challenges and a way forward.In,. (2015). ieee/acm 1st international workshop on software engineering for smart cyber-physical systems (pp. 15–18). Florence: Italy.

  • Zheng, X., Julien, C., Kim, M., & Khurshid, S.(2015). Perceptions on the state of the art in verification and validation in cyber-physical systems.IEEE Systems Journal, 11(4), 2614–2627.

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Farzana Zahid.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zahid, F., Tanveer, A., Kuo, M.M.Y. et al. A systematic mapping of semi-formal and formal methods in requirements engineering of industrial Cyber-Physical systems. J Intell Manuf 33, 1603–1638 (2022). https://doi.org/10.1007/s10845-021-01753-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10845-021-01753-8

Keywords

Navigation