An Analysis-Driven Rapid Design Process for Cyber-Physical Systems By Zsolt Lattmann Dissertation Submitted to the Faculty of the Graduate School of Vanderbilt University in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY in Electrical Engineering August, 2016 Nashville, Tennessee Approved: Gábor Karsai, Ph.D. Theodore Bapty, Ph.D. Gautam Biswas, Ph.D. Xenofon Koutsoukos, Ph.D. Sandeep Neema, Ph.D. János Sztipanovits, Ph.D. Copyright c 2016 by Zsolt Lattmann All Rights Reserved ii ACKNOWLEDGMENTS First and foremost I wish to thank my advisor, Prof. Gábor Karsai, for his scientific advice and knowledge and many insightful discussions and suggestions. He helped me to formulate the thesis topic and guided me over almost four years of development. His questions were always the most difficult ones, and they guided me towards research challenges, answers, and solutions. He helped me learn how to clearly and precisely communicate my ideas. He is the person who reads every single word on a page, even the fine print, and asks questions about every figure and diagram. His thorough work advocates excellence and the highest quality work based on all available information and time constraints. He clearly had a positive influence on my personality and professional career. He taught me how to effectively manage my time and be more productive; as a result, over the years at Vanderbilt University I have rarely missed deadlines, or even requested a deadline extension. I appreciate all his contributions of time, ideas, and funding to make my Ph.D. experience productive and stimulating. I am also thankful for the excellent example he has provided as a successful mentor, scientist, and professor. I would like to thank James Klingler for helping me with his proofreading and continuous feedback on technical content and suggesting how to rephrase and reorganize certain portions of this thesis to make it easier to read and understand. Even when I was losing my motivation he encouraged me to improve the quality this document. As I learn more and more about writing, I realize how much I do not know. I truly believe that James has just started me on a journey to improving my writing skills even further. Thank you, James. My thesis committee has given me exceptional input through all these years. Thank you to Prof. János Sztipanovits, Prof. Xenofon Koutsoukos, Prof. Gautam Biswas, Prof. Sandeep Neema, and Prof. Ted Bapty. I would like to thank all of my committee members for their valuable feedback, which has greatly improved the quality and clarity of this thesis and helped me define the scope of this research. Prof. Sandeep Neema and Prof. Ted Bapty provided me with the opportunity to be a contributor to the Defense Advanced Research Projects Agency (DARPA) Adaptive Vehicle Make (AVM) program and several projects including the META project. They have supported several students and researchers to achieve the goals of the META project. Our META group got extremely valuable feedback from our collaborators and beta testers about the ideas implemented in the OpenMETA tools. The members of the META group have contributed immensely to my personal and pro- fessional time at Vanderbilt University. This group has been a source of friendships as well as good advice and collaboration. The work presented in this thesis is a work of the META iii group and several other teams. In particular, I would like to thank: Adam Nagel for his help with the design of the dynamics portion of the integration language Cyber-Physical Modeling Language (CyPhyML) and component specification; Patrik Meijer for his help in redesigning and reimplementing certain pieces of the OpenMETA tools and make it a more robust tool in general; Kevin Smyth for all the pair programming, debugging difficult problems, and sharing his programming experience; and the entire META development team. Lastly, I would like to thank my family for all their love and encouragement. For my parents who raised me with a love of science and technology. I am grateful for all the support they gave me over the past decades. They always helped me to make my decisions which I greatly appreciate. Thank you. iv TABLE OF CONTENTS Page ACKNOWLEDGMENTS . iii LIST OF TABLES . viii LIST OF FIGURES . ix LIST OF ABBREVIATIONS . xi Chapter I. Introduction . .1 Challenges . .1 Problem Description . .2 Thesis Goals . .3 Thesis Outline . .3 II. Background . .4 Cyber-Physical Systems . .5 Existing Design Processes . .6 Layered Design . .6 Component-Based Design . .6 V-model............................................................7 Model-Based Development . .8 Virtual integration . .9 Platform-Based Design . .9 Contract-Based Design . 10 Summary . 11 Evaluation . 12 Model-Based Systems Engineering . 12 Domain-Specific Languages . 14 Unified Modeling Language . 14 Systems Modeling Language. 15 Evaluation . 16 Model Interfaces and Composition . 17 Bond Graphs . 17 Modelica . 19 Evaluation . 21 Requirements . 22 Requirement and design trade-offs . 24 Simulation-Driven Design . 25 v Multidisciplinary Design Analysis and Optimization . 27 Lessons learned . 28 III. High-level Design Flow . 30 Model Integration Platform . 31 Tool Integration Platform . 32 Execution Integration Platform . 33 Visualization Integration Platform . 34 IV. Heterogeneous component models . 36 Problem Statement . 36 Challenges . 37 Component and design models . 37 Solution . 37 Evaluation . 40 Example for model integration . 41 Solution . 42 Evaluation . 46 V. Analysis templates and model execution framework . 48 Problem Statement . 48 Challenges . 48 Solution . 49 Analysis template models . 49 Parametric exploration models . 50 Tool integration and analysis package execution . ..