Verification of Sysml Models Using Hybrid-Testbeds with Model-In-The-Loop Simulations Verifikation Von Sysml-Modellen in Einer H
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Verification of SysML Models using Hybrid-Testbeds with Model-in-the-Loop Simulations Verifikation von SysML-Modellen in einer hybriden Testumgebung mittels Model-in-the-Loop Simulationen Master Thesis by Praveen Kumar Ramachandran August 12, 2020 Technische Universit¨atKaiserslautern, Department of Computer Science, 67653 Kaiserslautern, Germany University Supervisor: Prof. Dr. KLAUS SCHNEIDER University Co-Supervisor: M.Sc. MARTIN KOHLER¨ Project Manager (DB): Mr. RALPH R MULLER¨ Project Supervisor (DB): Mr. RANDOLF BERGLEHNER Statutory Declaration I, Praveen Kumar Ramachandran, declare that this thesis titled, "Verification of SysML Models using Hybrid-Testbeds with Model-in-the-Loop Simulations" and the research presented in it are my own. I confirm that this work was done wholly while in candidature for a research degree at this University. All the points taken from the published and unpublished writings are cited as such. Kaiserslautern, 12.8.2020 Praveen Kumar Ramachandran ii Acknowledgements I would like to express my gratitude to everyone who has helped me during my master thesis. First of all, I would like to express my sincere gratitude to Prof. Dr. Klaus Schneider, my supervisor from the Department of Computer Science, Technical University of Kaiserslautern. I am sincerely thankful for his support and patience the entire time regarding doubts-clearing and answer- ing my questions. I would also like to extend my gratitude to M.Sc.Martin K¨ohler from the same department who is the co-supervisor for my thesis work. I would also like to thank the experts from (Deutsche Bahn Netze AG), who were involved in validating my research work throughout the process: Project manager: Mr. Ralph R M¨uller Project supervisor: Mr. Randolf Berglehner Without their guidance and support, the research work could not have been successfully conducted. Thank you Praveen Kumar Ramachandran iii \IoT has a total potential economic impact of $3.9 (3.18243e) trillion to $11.1 (9.05782e) trillion a year by 2025." {McKinsey & Company Abstract Model-based systems engineering (MBSE) has been widely used in several domains such as aviation, automotive, and railways. This approach allows for checking the complete- ness of the requirements, checking for dead ends, and run- ning the simulations. In the European railways, EULYNX is used to standardize the architecture of technical signal- ing interfaces. In the current approach from DB Netz AG, EULYNX specification models of standardised system in- terfaces are created using SysML. They are verified and validated by means of simulation-based model testing. The tests are performed by Infrastructure managers based on the assumptions of real environment the final application has to be embedded upon. Although the simulation imi- tates the system's intended behavior, it cannot detect all possible errors. Also, the behavior of the real hardware in the real-world is not entirely reflected in the model. For this reason, the specification model already should be em- bedded and tested within this real environment. In the scope of this master thesis, a different approach to ver- ify and validate executable SysML specification models is presented. Along with this, the modeling approach using SysML for the railway "subsystem Point" (EULYNX) is presented. The model is tested on a hybrid testbed that involves the standard SySim test platform and the GUI. We achieve this by using IoT Platform - ThingWorx which helps us to develop a hybrid testbed to test the model. The behavior of the model is verified against the GUI, which reflects the behavior of the real hardware. Research and analysis of the integration of the developed model with the end-to-end technology Industrial Internet of things plat- form (IIoT) is carried out. Within this thesis, we consider a simpler model of the railway "subsystem Point" to reduce the modeling complexities and integrate with other plat- forms. Later, results from the test cases that are created to check if it satisfies the intended behavior are discussed. v Zusammenfassung Modellbasiertes System-Engineering (MBSE) ist in ver- schiedenen Bereichen wie der Luftfahrt, der Automobil- und der Eisenbahnindustrie weit verbreitet. Dieser Ansatz erm¨oglicht es, die Vollst¨andigkeit der Anforderungen zu ¨uberpr¨ufen, Sackgassen zu erkennen und Simulationen durchzuf¨uhren. Bei den europ¨aischen Bahnen wir zurzeit im Rahmen der Initiative EULYNX eine Standardisierung der Architektur von Eisenbahnsignalsystemen und der rel- evanten Systemschnittstellen durchgef¨uhrt. Sie werden durch simulationsgest¨utzteModellversuche verifiziert und validiert. Die Tests werden von den Infrastrukturbe- treibern auf der Grundlage von Annahmen bez¨uglich der realen Umgebung durchgef¨uhrt,in die die endg¨ultigeAn- wendung eingebettet werden muss. Obwohl die Simulation das beabsichtigte Verhalten des Systems imitiert, kann sie nicht alle m¨oglichen Fehler erkennen. Auch das Verhalten der realen Hardware in der realen Welt wird im Modell nicht vollst¨andigwiedergegeben. Aus diesem Grund sollte das Spezifikationsmodell bereits in dieser realen Umgebung eingebettet und getestet werden. Im Rahmen dieser Mas- terarbeit wird der EULYNX-Ansatz zur Verifikation und Validierung ausf¨uhrbarerSysML Spezifikationsmodelle er- weitert. Parallel dazu wird der Modellierungsansatz mit SysML f¨urdas Eisenbahn- "Subsystem Weiche" (EUL- YNX) vorgestellt. Das Modell wird auf einem hybriden Testbed getestet, das die Standard-Testplattform SySim und die reale Systemumgebung, emuliert durch eine GUI, umfasst. Wir erreichen dies durch die Verwendung der IoT-Plattform - ThingWorx, die uns bei der Entwick- lung eines hybriden Testbeds zum Testen des Modells hilft. Das Verhalten des Modells wird gegen die GUI verifiziert, die das Verhalten der realen Hardware wider- spiegelt. Forschung und Analyse der Integration des en- twickelten Modells mit der End-to-End-Technologie Indus- trial Internet of Things Platform (IIoT) wird durchgef¨uhrt. Im Rahmen dieser Arbeit betrachten wir ein einfacheres Modell des Eisenbahn-"Subsystems Point", um die Kom- plexit¨atder Modellierung zu reduzieren und die Integration mit anderen Plattformen zu erm¨oglichen. Sp¨aterwerden Ergebnisse aus den Testf¨allendiskutiert, die erstellt wer- den, um zu ¨uberpr¨ufen, ob es das beabsichtigte Verhalten erf¨ullt. vi Contents List of Figures ix List of Tables xiii Abbreviations xv 1. Introduction1 1.1. Context...............................1 1.2. Motivation (Problem Area)....................1 1.3. Thesis Statement and Contributions...............3 1.4. Outline...............................3 2. Related Work5 3. Background7 3.1. Model-based Systems Engineering................7 3.1.1. Modeling using SysML...................9 3.1.2. Verification and Validation................ 12 3.2. X-in-the-loop Testing........................ 14 3.2.1. Model-in-the-loop..................... 15 3.2.2. Software-in-the-loop.................... 16 3.2.3. Hardware-in-the-loop.................... 16 3.3. Hybrid Testbed........................... 16 3.4. Internet of Things......................... 18 3.4.1. IoT............................. 18 3.4.2. Industrial Internet of Things............... 19 3.4.3. Applications/Tools used.................. 21 3.4.3.1. Integrity Modeler................ 22 3.4.3.2. DOORS...................... 22 3.4.3.3. SySim....................... 22 3.4.3.4. ThingWorx.................... 22 3.4.3.5. KepServerEX................... 23 3.4.3.6. GraphWorx64.................. 23 4. Methodology - Railway Principles of Safety 25 4.1. Safety-critical Systems....................... 25 4.1.1. EULYNX.......................... 26 4.2. Railway Signaling.......................... 28 4.2.1. Track Segment....................... 30 4.2.2. Point/Turnout....................... 31 4.2.3. Crossing........................... 32 vii Contents 4.2.4. Interlocking......................... 32 4.2.5. Railway Standards..................... 34 5. Methodology - MiL Architecture 35 5.1. Model-in-the-loop Architecture.................. 35 5.1.1. SysML Model Setup.................... 36 5.1.2. Connecting SySim with ThingWorx Elements...... 46 5.1.3. Connecting GUI with ThingWorx using TIC...... 49 5.1.4. Connecting GUI to KEPServerEX............ 53 5.1.5. ThingWorx Mashup Build................. 58 6. Results - Simulation and Testing 67 6.1. Model Simulation on Hybrid Testbeds.............. 67 6.1.1. GUI Simulation....................... 67 6.1.2. SySim Model Execution.................. 70 6.1.3. Mashup Visualization................... 78 6.2. Model Verification - Test Cases.................. 80 7. Conclusion and Future Work 87 7.1. Conclusion............................. 87 7.2. Future Work............................ 88 7.3. Personal Thoughts......................... 89 Bibliography 91 A. Visual Studio Code 101 B. Modeler Blocks 103 C. SySim Simulation 107 C.1. Scenario - No End Position.................... 107 viii List of Figures 3.1. The approach of MBSE in brief..................8 3.2. Relationship between UML and SysML............. 10 3.3. An example - Internal block diagram............... 11 3.4. V-model............................... 13 3.5. Overview of the model validation steps.............. 13 3.6. MiL testing in comparison with SiL and HiL.......... 15 3.7. Hybrid Testbed overview...................... 17 3.8. IoT and its application cluster.................. 19 3.9. IIoT as a subset of IoT....................... 20 3.10. Industrial railway sector...................... 21 4.1. A generic approach to ensure safety..............