In subproject B1, we are developing UML-based design techniques for self-optimizing multi-agent systems (MAS) containing mechatronic components. Our approach is based on compositional verification and domain specific pattern which supports the specification and analysis of hybrid agents as well as their online-reconfiguration by taking safety and dependability into account. Further, we want to consider concepts for the flexible structure- and behavior- adaptation and the re-engineering of legacy systems.
Enhanced functionalities are enabled by connecting mechatronic components. The networking enables a coordinated advancement of single agents and therefore the self-optimizing by adaptation of changed objectives. Prerequisite of the coordination is an interchange of information between agents by message oriented communication. The combination of software oriented interaction between agents on the one hand and control oriented actuators and sensors on the other hand is a great challenge for the development of correct software of mechatronic systems.
Graph Transformation System with Time and Invariants
To address these challenges, we developed an integrated modeling and verification approach for mechatronic MAS, called Mechatronic UML. We developed coordination pattern for mechatronic components which enables a model-based compositional verification. The pattern approach takes also a variable number of participants into account by parameterized coordination pattern. The inclusion of control oriented outcomes by simulation and testing by subproject C3 and D enables an abstraction of the hybrid system to a pure time continuous system which is the basis for an efficient verification.
The online verification of the software system has been addressed in this process by the behavior adaptation of an OCM and the structure adaptation of an MAS. The safety of behavioral reconfiguration is obtained by compositional verification. For structural reconfiguration, for which arbitrary initial configurations have to be verified in regard to safety, a new verification method based on the proof of structure invariants has been developed. The state space generated by structure reconfigurations is formally modeled by a graph transformation system. This enables the proof of structure invariants through induction.
Example of Failure Propagation
Modeling is further supported by the development of methods for the synthesis deriving Real-Time Coordination Patterns from Scenario Diagrams and computing a component's overall behavior from all Real-Time Coordination Patterns a component attends. The requisite component structure for the modeling of Scenario Diagrams has been derived from across domain models in close cooperation with the partial project B2.
Furthermore, the appearance and avoidance of failures caused by failures or faulty behavior of entire component is addressed by a compositional hazard analysis that also considers fault tolerance techniques. In cooperation with the partial project D2 hazards for convoys of RailCabs have been analysed and fault tolerance techniques have been applied.
The developed modeling techniques have been prototypically implemented in the UML CASE tool Fujaba Real-Time Tool Suite. The tool suite supports beneath model simulation an automatic code generation, that ensures that the verified properties of the UML models also hold for the implementation.
Overview of the Fujaba Real-Time Tool Suite and the Applied Techniques
The current and future research of B1 is mainly characterized by the ongoing development of the past concepts. In particular in terms of the increased flexibility of self-optimization, as well as the treatment of new questions, which focus on the reverse engineering of legacy systems, as well as planning aspects in the cognitive operator of the OCM which focus on the instantiation of the real-time coordination pattern.
To achive more flexibility with respect to behavior and structural aspects, we consider the combination of real-time coordination pattern and parameterized coordination pattern for a decentralized coordination for an arbitrary number of agents. Taking also the increased flexibility into account this implies planning concepts for the instantiation of the coordination pattern as well. In contrast to the subprojects A1 and A2 we focus on planning algorithms which especially take safety requirements into account. Besides the planning the development of reverse engineering techniques which synthesize MechatronicUML models for legacy systems from source code will be considered. The existing hazard analysis will be improved by taking timing aspects with respect to the behavior into account in order to increase the prescision of the current analysis.
Coordinator of the Subproject:
Publications (since 6/2005)
Reviewed Publications
Alhawash, K.; Ceylan, T.; Eckardt, T.; Fazal-baqaie, M.; Greenyer, J.; Heinzemann, C.; Henkler, S.; Ristov, R.; Travkin, D.; Yalcin, C.: The Fujaba Automotive Tool Suite. In: Aßmann, U., Johannes, J., Zündorf, A.: Proceedings of the 6th International Fujaba Days, 18.-19. September 2008, Dresden, Germany, 2008
Becker, B.; Beyer, D.; Giese, H.; Klein, F.; Schilling, D.: Symbolic Invariant Verification for Systems with Dynamic Structural Adaptation. In: Proceedings of the 28th International Conference on Software Engineering (ICSE), 2006, ACM Press, Shanghai, China, 2006
Burmester, S.; Giese, H.: Visual Integration of UML 2.0 and Block Diagrams for Flexible Reconfiguration in Mechatronic UML. In: Zhan, K., Erwig, M., Schürr, A.: Proceedings of the IEEE Symposium on Visual Languages and Human-Centric Computing (VL/HCC'05), Dallas, Texas, USA, IEEE Computer Society Press, Washington, DC, USA, 2005
Burmester, S.; Giese, H.; Hirsch, M.; Schilling, D.; Tichy, M.: The Fujaba Real-Time Tool Suite: Model-Driven Development of Safety-Critical, Real-Time Systems. In: Proceedings of the 27th International Conference on Software Engineering (ICSE), St. Louis, Missouri, USA, ACM, New York, NY, USA, 2005
Burmester, S.; Giese, H.; Henkler, S.; Hirsch, M.; Tichy, M.; Gambuzza, A.; Münch, E.; Vöcking, H.: Tool Support for Developing Advanced Mechatronic Systems: Integrating the Fujaba Real-Time Tool Suite with CAMeL-View. In: Orso, A., di Nitto, E. (Eds.): Proceedings of the 29th International Conference on Software Engineering (ICSE), 2007, Minneapolis, Minnesota, USA, IEEE Computer Society, Los Alamitos, CA, 2007
Brenner, C.; Giese, H.; Hirsch, M.; Henkler, S.; Priesterjahn, C.: Integration of Legacy Components in Mechatronic UML Architectures. In: Aßmann, U., Johannes, J., Zündorf, A.: Proceedings of the 6th International Fujaba Days, 18.-19. September 2008, Dresden, Germany, 2008
Burmester, S.; Giese, H.; Münch, E.; Oberschelp, O.; Klein, F.; Scheideler, P.: Tool Support for the Design of Self-Optimizing Mechatronic Multi-Agent Systems. International Journal on Software Tools for Technology Transfer, Volume 10, Number 3, Springer Verlag, Heidelberg, Deutschland, 2008, pp. 207-222
Burmester, S.; Giese, H.; Oberschelp, O.: Hybrid UML Components for the Design of Complex Self-optimizing Mechatronic Systems. Informatics in Control, Automation and Robotics I, 4, Springer Verlag, Niederlande, 2006
Becker, B.; Giese, H.; Schilling, D.: A Plugin for Checking Inductive Invariants when Modeling with Class Diagrams and Story Patterns. Proceedings of the 3rd International Fujaba Days 2005, Universität Paderborn, Paderborn, 2005
Burmester, S.; Giese, H.; Seibel, A.; Tichy, M.: Worst-Case Execution Time Optimization of Story Patterns for Hard Real-Time Systems. Proceedings of the 3rd International Fujaba Days 2005, Universität Paderborn, Paderborn, 2005
Danne, C.; Dück, V.; Klöpper, B.; Brinkmann, J.; Tichy, M.: Considering Runtime Restrictions in Self-Healing Distributed Systems. In: Proceedings of the IEEE 21st International Conference on Advanced Information Networking and Applications (AINA-07), Niagara Falls, Canada, IEEE Computer Society, Washington, DC, USA, 2007
Frank, U.; Giese, H.; Müller, T.; Oberthür, S.; Romaus, C.; Tichy, M.; Vöcking, H.: Potenziale und Risiken der Selbstoptimierung für die Verlässlichkeit mechatronischer Systeme. 5. Paderborner Workshop Entwurf mechatronischer Systeme, 22.-23. März 2007, Paderborn, HNI-Verlagsschriftenreihe, Band 210, Paderborn, 2007
Gausemeier, J.; Giese, H.; Schäfer, W.; Axenath, B.; Frank, U.; Henkler, S.; Pook, S.; Tichy, M.: Towards the Design of Self-Optimizing Mechatronic Systems: Consistency between Domain-Spanning and Domain-Specific Models. In: Bocquet, J.: 16th International Conference on Engineering Design, July 28-31, 2007, Paris, Ecole Central Paris & The Design Society, Paris, Frankreich, 2007
Giese, H.; Hirsch, M.: Modular Verificaton of Safe Online-Reconfiguration for Proactive Components in Mechatronic UML. In: International Workshop on Modeling and Analysis of Real-Time and Embedded Systems, October 2-7, 2005, Montego Bay, Jamaika, 2005, pp. 7-26
Giese, H.; Henkler, S.: Architecture-Driven Platform Independent Deterministic Replay for Distributed Hard Real-Time Systems. In: Hierons, R., Muccini, H.: 2nd International Workshop on The Role of Software Architecture for Testing and Analysis, July 17-20, 2006, Portland, USA, ACM Press, New York, 2006, pp. 28-38
Giese, H.; Henkler, S.: A Survey of Approaches for the Visual Model-Driven Development of Next Generation Software-Intensive Systems. Journal of Visual Languages and Computing, Volume 17, Issue 6, Elsevier, Amsterdam, 2006, pp. 528-550
Giese, H.; Hirsch, M.: Modular Verificaton of Safe Online-Reconfiguration for Proactive Components in Mechatronic UML. In: Bruel, J.: Satellite Events at the MoDELS 2005 Conference, October 2-7, 2005, Montego Bay, Springer Verlag, 3844, Heidelberg, Deutschland, 2006, pp. 67-78
Giese, H.; Henkler, S.; Hirsch, M.: A PlugIn for the Development of Resource Aware Components with Mechatronic UML. In: Giese, H., Westfechtel, B.: Proceedings of the 4th International Fujaba Days, September 28-30, 2006, Bayreuth, Universität Paderborn, tr-ri-06-275, Paderborn, Deutschland, 2006, pp. 51-55
Giese, H.; Henkler, S.; Hirsch, M.; Klein, F.: Nobody's perfect: Interactive Synthesis from Parametrized Real-Time Scenarios. In: 5th Workshop on Scenarios and State Machines: Models, Algorithms and Tools, May 27, 2006, Shanghai, ACM Press, New York, USA, 2006, pp. 67-74
Giese, H.; Henkler, S.; Hirsch, M.; Tichy, M.; Vöcking, H.: Modellbasierte Entwicklung vernetzter, mechatronischer Systeme am Beispiel der Konvoifahrt autonom agierender Schienenfahrzeuge. 4. Paderborner Workshop Entwurf mechatronischer Systeme, 27.-28. September, 2006, Paderborn, Deutschland, HNI-Verlagsschriftenreihe, Band 189, Paderborn, Deutschland, 2006, pp. 457-473
Giese, H.; Henkler, S.; Hirsch, M.; Klein, F.; Spijkerman, M.: Monitoring of Structural and Temporal Properties. In: Geiger, L., Giese, H., Zündorf, A.: Proceedings of the 5th International Fujaba Days, October 8-9, 2007, Kassel, Germany, Universität Paderborn, tr-ri-06-289, Paderborn, Deutschland, 2007, pp. 8-11
Giese, H.; Henkler, S.; Hirsch, M.; Priesterjahn, C.: Model-Based Testing of Mechatronic Systems. In: Geiger, L., Giese, H., Zündorf, A.: Proceedings of the 5th International Fujaba Days, October 8-9, 2007, Kassel, Germany, Universität Paderborn, tr-ri-06-289, Paderborn, Deutschland, 2007, pp. 12-15
Giese, H.; Henkler, S.; Hirsch, M.: Combining Compositional Formal Verification and Testing for Correct Legacy Component Integration in Mechatronic UML. In: Lemos, R. d., Di Giandomenico, F., Gacek, C., Muccini, H., Vieira, M.: Architecting Dependable Systems V, Springer Verlag, 5135, Heidelberg, Deutschland, 2008, pp. 248-272
Giese, H.; Klein, F.: Beyond Story Patterns: Story Decision Diagrams. In: Giese, H., Westfechtel, B.: Proceedings of the 4th International Fujaba Days, September 28-30, 2006, Bayreuth, Germany, Universität Paderborn, tr-ri-06-275, Paderborn, Deutschland, 2006, pp. 2-9
Giese, H.; Klein, F.: Visual Specification of Structural and Temporal Properties. In: Giese, H., Westfechtel, B.: 4th International Fujaba Days, September 28-30, 2006, Bayreuth, Germany, Universität Paderborn, tr-ri-06-275, Paderborn, Deutschland, 2006, pp. 23-30
Giese, H.; Klein, F.; Burmester, S.: Pattern Synthesis from Multiple Scenarios for Parameterized Real-Timed UML Models. In: Leue, S., Systä, T.: Scenarios: Models, Algorithms and Tools, Springer Verlag, 3466, Heidelberg, Deutschland, 2005, pp. 193-211
Giese, H.; Tissen, S.: The SceBaSy PlugIn for the Scenario-Based Synthesis of Real-Time Coordination Patterns for Mechatronic UML. Proceedings of the 3rd International Fujaba Days, September 15-18, 2005, Paderborn, Germany, Universität Paderborn, tr-ri-05-259, 2005, pp. 67-70
Giese, H.; Tichy, M.: Component-Based Hazard Analysis: Optimal Designs, Product Lines, and Online-Reconfiguration. In: Gorski, J.: Proceedings of the 25th International Conference on Computer Safety, Security and Reliability, September 26-29, Gdansk, Poland, Springer Verlag, Heidelberg, Deutschland, 2006, pp. 156-169
Giese, H.; Vilbig, A.: Separation of Non-Orthogonal Concerns in Software Architecture and Design. Software and System Modeling, Volume 5, Number 2, Springer Verlag, Heidelberg, Deutschland, 2006, pp. 136-169
Henkler, S.; Hirsch, M.: Compositional Validation of Distributed Real Time Systems. In: Gehrke, M., Giese, H., Stroop, J.: 4th Workshop on Object-oriented Modeling of Embedded Real-Time Systems, October 30-31, 2007, Paderborn, Germany, Institut für Informatik, Universität Paderborn, tr-ri-07-286, Paderborn, Deutschland, 2007, pp. 52-56
Hirsch, M.; Henkler, S.; Giese, H.: Modeling Collaborations with Dynamic Structural Adaptation in Mechatronic UML. In: Proceedings of the 2008 international workshop on Softwareengineering for adaptive and self-managing systems, 2008, ACM Press, New York, NY, USA, 2008
Henkler, S.; Hirsch, M.; Kahl, S.; Schmidt, A.: Development of Self-optimizing Systems: Domain-spanning and Domain-specific Models exemplified by an Air Gap Adjustment System for Autonomous Vehicles. In: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 3-6, 2008, New York, USA, ASME, New York, USA, 2008
Hirsch, M.; Henkler, S.; Priesterjahn, C.: Hybrid Model Checking with the FUJABA Real-Time Tool Suite. In: Aßmann, U., Johannes, J., Zündorf, A. (Eds.): Proceedings of the 6th International Fujaba Days, 18.-19. September 2008, Dresden, Germany, 2008
Holtmann, J.; Tichy, M.: Component Story Diagrams in Fujaba4Eclipse. In: Aßmann, U., Johannes, J., Zündorf, A.: Proceedings of the 6th International Fujaba Days 2008, Dresden, Germany, Universität Paderborn, Paderborn, Deutschland, 2008
Henke, C.; Tichy, M.; Schneider, T.; Böcker, J.; Schäfer, W.: Organization and Control of Autonomous Railway Convoys. In: 9th International Symposium on Advanced Vehicle Control, October 6-9, 2008, Kobe, Japan, 2008
Henke, C.; Tichy, M.; Schneider, T.; Böcker, J.; Schäfer, W.: System Architecture and Risk Management for Autonomous Railway Convoys. In: 2nd Annual IEEE International Systems Conference, April 7-10, 2008 Montreal, Canada, IEEE systems council, 2008, pp. 1-8
Klein, F.; Giese, H.: Analysis and Design of Physical and Social Contexts inMulti-Agent Systems. In: Garcia, A., Choren, R., Lucena, C., Romanovsky, A., Holvoet, T.and Giorgini, P.: Software Engineering for Multi-Agent Systems IV, Springer Verlag, Berlin, Deutschland, 2006
Klein, F.; Giese, H.: Grounding Social Interactions in the Environment. In: Weyns, D., Parunak, V., Michel, F.: Environments for Multiagent Systems II, Springer Verlag, Berlin, Deutschland, 2006
Klein, F.; Giese, H.: Integrated Visual Specification of Structural and TemporalProperties. In: Fundamental Approaches to Software Engineering, Springer Verlag, Berlin, Deutschland, 2006
Klein, F.; Giese, H.: Joint Structural and Temporal Property Specification usingTimed Story Sequence Diagrams. In: Dwyer, M., Lopes, A.: Proceedings of 10th International Conference on Fundamental Approachesto Software Engineering (FASE) 2007, held as part of ETAPS 2007, March 24-April 1, 2007, Lisboa, Portugal, Springer Verlag, Berlin, Deutschland, 2007
Klein, F.; Giese, H.; Tichy, M.: Building Reliable Systems based on Self-Organizing Multi-Agent Systems. In: Proceedings of the 5th ICSE 2006 Workshop on Software Engineeringfor Large-scale Multi-Agent Systems (SELMAS'06), Shanghai, China, ACM Press, New York, NY, USA, 2006
Osmic, S.; Münch, E.; Trächtler, A.; Henkler, S.; Schäfer, W.; Giese, H.; Hirsch, M.: Safe Online-Reconfiguration of Self-Optimizing Mechatronic Systems. Selbstoptimierende mechatronische Systeme: Die Zukunft gestalten. 7. Internationales Heinz Nixdorf Symposium für industrielle Informationstechnik, Springer Verlag, Berlin, Deutschland, 2008
Tichy, M.; Giese, H.: Extending Fault Tolerance Patterns by Visual Degradation Rules. In: Proceedings of the Workshop on Visual Modeling for Software Intensive Systems(VMSIS) at the the IEEE Symposium on Visual Languages and Human-CentricComputing (VL/HCC'05), Dallas, Texas, USA, Dallas, Texas, USA, 2005
Tichy, M.; Giese, H.; Schilling, D.; Pauls, W.: Computing Optimal Self-Repair Actions: DamageMinimization versus Repair Time. In: de Lemos, R., Romanovsky, A.: Proceedings of the ICSE 2005 Workshop on Architecting Dependable Systems,St. Louis, Missouri, USA, ACM Press, New York, NY, USA, 2005
Tichy, M.; Giese, H.; Seibel, A.: Story Diagrams in Real-Time Software. In: Giese, H., Westfechtel, B.: Proceedings of the 4th International Fujaba Days 2006, Bayreuth, Germany, Universität Paderborn, Bayreuth, Deutschland, 2006
Tichy, M.; Henkler, S.: Towards a Transformation Language for Component Structures. In: Giese, H., Stroop, J., Gehrke, M.: Proceedings of the 4th Workshop on Object-oriented Modeling of Embedded Real-Time Systems (OMER 4), Paderborn, Germany, 2007, pp. 68-73
Tichy, M.; Henkler, S.; Holtmann, J.; Oberthür, S.: Component Story Diagrams: A Transformation Language for Component Structures. Postproceedings of the 4th Workshop on Object-oriented Modeling of Embedded Real-Time Systems (OMER 4), Paderborn, Germany, 2008
Tichy, M.; Henkler, S.; Meyer, M.; Von Detten, M.: Safety of Component-Based Systems: Analysis and Improvement using Fujaba4Eclipse. In: Schäfer, W., Dwyer, M., Gruhn, V.: Companion Proceedings of the 30th International Conference on SoftwareEngineering (ICSE), May 10 - 18, Leipzig, Germany, 2008
Tichy, M.: Pattern-Based Synthesis of Fault-Tolerant Embedded Systems. In: Proceedings of the Doctoral Symposium of the Fourteenth ACM SIGSOFT Symposiumon Foundations of Software Engineering (FSE), Portland, Oregon, USA, ACM Press, New York, NY, USA, 2006
Tichy, M.; Meyer, M.; Giese, H.: On Semantic Issues in Story Diagrams. In: Giese, H., Westfechtel, B.: Proceedings of the 4th International Fujaba Days, September 28 - 30, 2006, Bayreuth, Germany, Universität Paderborn, 2006, pp. 10-14
Ph.D.-Theses
Burmester, S.: Model-Driven Engineering of Reconfigurable Mechatronic Systems. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, Berlin, 2006
Hirsch, M.: Modell-basierte Verifikation von vernetzten mechatronischen Systemen. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, Universität Paderborn, 2008
Klein, F.: A Model-Driven Approach to Multi-Agent System Design. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, Universität Paderborn, 2008
Schilling, D.: Kompositionale Softwareverifikation mechatronischer Systeme. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, 2006
