computer aided multi-paradigm modelling - mcgill university
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SCSC 2003Montreal, Canada
22 July, 2003
Computer Aided Multi-paradigm Modelling
of Hybrid Systems with AToM3
Juan de Lara and Manuel Alfonseca
E.T.S. de InformaticaUniversidad Autonoma de Madrid, Madrid, Spain
Hans Vangheluwe
Modelling, Simulation and Design Lab (MSDL)School of Computer Science, McGill University, Montreal, Canada
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 1/30
Presentation Overview� Multi-paradigm Modelling and Simulation
� An example Hybrid model
� Meta-modelling
� AToM3: A Tool for Multi-formalism Meta-Modelling
� The future . . .
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 2/30
Multi-paradigm modelling and simulation
1. Different levels of abstraction
2. Mixing different formalisms (coupling, transformation)
3. Modelling classes of models (formalisms) by meta-modelling
4. Modelling transformations explicitly
(in the Graph Grammar formalism)
TOMACS 12(4) 2002: Special Issue on CAMPaM.
Mosterman and Vangheluwe.
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 3/30
A Hybrid Example: T � l controlled liquid
is_full
is_emptyheat
off
cool
is_coldis_hot
fill emptyclosed
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 4/30
A Simulation Applet
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 5/30
OOCSMP to Java applets with C-OOL
Simulation 79(1) 2003: Visual Interactive Simulation for Distance
Eductation. de Lara and Alfonseca.
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 6/30
The Controller (Statechart)
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 7/30
Meta-modelling
meta-model a model in formalism MF
meta-modelprocessor model
userinput
a model of a class of models (the formalism F)semantics within formalism MFdescribes: structure and constraints
a model in formalism F
-create-delete-verify (local, global)
MF
F
(ER)
(FSA)
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 8/30
Statecharts Meta-model
Name type=String init.val
Blob
Name type=String init.val
Orthogonal
Actions type=String init.
Initial
Hyperedge
composed_of
has_inside
has_Initialiconnection
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 9/30
Statecharts Meta-model in AToM3
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 10/30
Edit Entity
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 11/30
Edit Entity Appearance
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 12/30
The Controller (Statechart)
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 13/30
The Continuous Plant Model (ALG + ODE)
Inputs (discontinuous � hybrid model):
� Emptying, filling flow rate φ
� Rate of adding/removing heat W
Parameters:
� Cross-section surface of vessel A
� Specific heat of liquid c
� Density of liquid ρ
State variables:
� Temperature T
� Level of liquid l
Outputs (sensors):
� is low � is high � is cold � is hot
������������� �����������
�
dTdt
1l W
cρA
� φT �
dldt
φ
is low l � llow �
is high l � lhigh �
is cold T � Tcold �
is hot T � Thot �
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 14/30
A Causal Block Diagram Model
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 15/30
CBD Meta-model (ER)
Type type=Enum init.valueValue type=Float init.valName type=String init.valInitialCondition type=PorVariable type=Port init.v
Block
Name type=String init.valValue type=Float init.val
Constant
Type type=Enum init.valueLocation type=Enum init.v
Output
Type type=Enum init.value
Control_Variable
Connected_to_Block
Connected_Ct
Connected_Out
Connected_Ctrl
Connected_out_ctrl
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 16/30
x� � � � Kx � x � 0 � � 0 � x� � 0 � � 1
x0
0.0
y0
1.0
ICx
ICy
− I OUT
K
1.0
0.0
PLOT
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 17/30
Generated LATEX
\[
\left\{
\begin{array}{ll}
\dot{x} = y, & x(t_0) = x0\\
\dot{y} = -(x) \cdot K, & y(t_0) = y0\\
\\
x0 = 0.0\\
K = 1.0\\
y0 = 1.0\\
\end{array}
\right.
\]
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 18/30
Rendered
������������� �����������
�
x y � x t0 � x0
y � x ��� K � y t0 � y0
x0 0� 0
K 1� 0
y0 1� 0
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 19/30
Generated Matlab/Simulink
function xdot = harmonic(t, x)
xdot = zeros(2, 1);
xdot(1) = x(2);
xdot(2) = -(x(1)) *1.0;
x0 = [0.0; 1.0];
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 20/30
The OOCSMP top-model
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 21/30
OOCSMP meta-model (ER)
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 22/30
The Complete Model
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 23/30
Meta-meta-. . .
meta-metamodel
meta-modelprocessor
meta-modeluserinput
a model of a class of models (the formalism MF)semantics within formalism MMFdescribes: structure and constraints
a model in formalism MF
-create-delete-verify (local, global)
meta-modelprocessor model
userinput
a model of a class of models (the formalism F)semantics within formalism MFdescribes: structure and constraints
a model in formalism F
-create-delete-verify (local, global)
MMF
MF
F
(ER)
(ER)
(FSA)
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 24/30
ER Meta-model (ER)
name type=String init.valattributes type=List init
ERentity
ERrelationship
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 25/30
Model Transformation Specification
meta-model a model in formalism ER
meta-modelprocessor
model
userinput
a model of a class of models (the formalism NFA)semantics within formalism ER
a model in formalism NFA
-create-delete-verify (local, global)
MF
F
(ER)
(NFA)
meta-model a model in formalism MF
meta-modelprocessor
model
userinput
a model of a class of models (the formalism F)semantics within formalism MFdescribes: structure and constraints
a model in formalism FSA
-create-delete-verify (local, global)
MF
F
(ER)
(FSA)(multi-formalism)
model transformer=
meta-modelprocessor
transformationmeta-model
MF (GGR)
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 26/30
The Full Picture
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 27/30
Related Work� The OMG’s Model Driven Architecture (MDA)
� Graph Grammars: PROGRES, AGG, . . .
� Ptolemy (Berkely, Ed Lee): co-simulation
� Vanderbilt (ISIS): Multigraph Architecture, GME
� Honeywell: DOME
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 28/30
The Future . . .� Domain-specific modelling and simulation environments
� Experiment with variations (flavours) of formalisms (syntax and
semantics)
� Formalism Transformation (FTG)
� Graph Grammars models for all Transformations
� Simulator Meta-specification (reference implementation)
� Model exchange (DTD from meta-model, XML from model)
� Concrete vehicle: ATOM3 http://atom3.cs.mcgill.ca
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 29/30
Acknowledgements� The Modelling, Simulation and Design Lab (MSDL)
http://msdl.cs.mcgill.ca
� Jean-Sebastien Bolduc (CBD transformations)
� NSERC http://www.nserc.ca
SCSC 2003, 22 July, Montreal Computer Aided Multi-paradigm Modelling of Hybrid Systems with AToM3 30/30
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