Casper Thule

Vestas Wind Systems A/S

Digital twins (DTs) represent a key technology in the development, real-time monitoring and optimisation of cyber–physical systems (CPSs). Such potential emerges as a result of the real-time coupling between DTs and their physical counterparts, where it is possible to make use of operational data as it is being generated in order to aid decision-ma...

Simulation-based analyses are becoming increasingly vital for the development of cyber-physical systems. Co-simulation is one such technique, enabling the coupling of specialized simulation tools through an orchestration algorithm. The orchestrator describes how to coordinate the simulation of multiple simulation tools. The simulation result depend...

This volume contains the papers presented at the 19th International Overture Workshop, which was held in an hybrid format: online and physically at Aarhus, Denmark on 22th October 2021. This event was the latest in a series of workshops around the Vienna Development Method (VDM), the open-source project Overture, and related tools and formalisms. V...

Simulation-based analyses of cyber-physical systems are increasingly vital. Co-simulation is one such technique that enables the coupling of specialized simulation tools through an orchestration algorithm. The orchestrator dictates how each simulation tool should simulate its corresponding subsystem. Obtaining correct simulation results requires an...

In this work, we present the initial steps in the development of a digital twin of the agricultural autonomous vehicle, Robotti. A model of the vehicle dynamics is initially developed in the open-source multi-physics code, Chrono, and then wrapped as a Functional Mock-up Unit. We provide an overview of the envisioned digital twin system and a descr...

In this paper we present an experience report for the RMQ\-FMU, a plug and play tool, that enables feeding data to/from an FMI2-based co-simulation environment based on the AMQP protocol. Bridging the co-simulation to an external environment allows on one side to feed historical data to the co-simulation, serving different purposes, such as visuali...

To demystify the Digital Twin concept, we built a simple yet representative thermal incubator system. The incubator is an insulated box fitted with a heatbed, and complete with a software system for communication, a controller, and simulation models. We developed two simulation models to predict the temperature inside the incubator, one with two fr...

In this paper, we report on the progress made to upgrade and develop a stable upgrading process to the INTO-CPS Application, an Electron.js based desktop application providing a front-end to an INtegrated TOolchain, which is used to develop Cyber-Physical Systems models. We added regression tests to the codebase and for the first time can detect th...

The accuracy of the result of a co-simulation is dependent on the correct initialization of all the simulation units. In this work, we consider co-simulation where the simulation units are described as Functional Mock-up Units (FMU). The Functional Mock-up Interface (FMI) specification specifies constraints to the initialization of variables in the...

Correct co-simulation results require a careful consideration of how the interacting simulators are implemented. In version 2.0 of the FMI Standard, input handling implementation is left implicit, which leads to the situation where a simulator can be interacted with in a manner that its implementation does not expect, yielding incorrect results. In...

An immediate industry challenge is to fashion a co-simulation that replicates real-systems behaviour with high fidelity. To achieve this goal, developers rely on frameworks to enhance the creation and analysis of the co-simulation. One major problem is that new co-simulation frameworks require extensive development, most of which resides in non-ess...

The successful development of Cyber-Physical Systems (CPSs) requires collaborative working across diverse engineering disciplines, notations and tools. However, classical computing curricula rarely provide opportunities for students to look beyond the confines of one set of methods. In this paper, we report approaches to raising students’ awareness...

The INTO-CPS Application is a common interface used to access and manipulate different model-based artefacts produced by the INTO-CPS tool chain during the development of a cyber-physical system. The application was developed during the INTO-CPS project. It uses web-technologies on top of the Electron platform, and it requires local installation an...

In order to ensure that the co-simulation of Cyber-Physical Systems (CPSs) is possible with as wide a variety of tools as possible, a standard called the Functional Mockup Interface (FMI) has been defined. The FMI provides the means to compute the overall behaviour of a coupled system by the coordination and communication of simulators, each respon...

In order to ensure that the co-simulation of Cyber-Physical Systems (CPSs) is possible with as wide a variety of tools as possible, a standard called the Functional Mockup Interface (FMI) has been defined. The FMI provides the means to compute the overall behavior of a coupled system by the coordination and communication of simulators, each respons...

Cyber-Physical Systems (CPSs) often operate in a critical context where it is crucial that they behave as intended. However, the heterogeneous nature of CPSs makes them inherently challenging to develop. To assist in the development process, one can perform co-simulation, where models of constituents of a CPS are coupled to jointly simulate the ful...

The systematic engineering of Cyber-Physical Systems is a challenging endeavour. In order to manage the complexity of such multi-disciplinary development collaborative modelling and co-simulation has been proposed. In this setting models are made of different constituent models with different mathematical formalisms using different tools. This pape...

In the engineering of heterogeneous systems, there have always been challenges related to ensuring a common understanding of the interfaces between the constituent systems.

Co-simulation consists of the theory and techniques to enable global simulation of a coupled system via the composition of simulators. Despite the large number of applications and growing interest in the challenges, the field remains fragmented into multiple application domains, with limited sharing of knowledge. This tutorial aims at introducing c...

Despite the large number of applications and growing interest in the challenges that co-simulation poses, the field is fragmented into multiple application domains, with limited sharing of knowledge.

Engineering modern systems is becoming increasingly difficult due to the heterogeneity between different subsystems. Modelling and simulation techniques have traditionally been used to tackle complexity, but with increasing heterogeneity of the subsystems, it becomes impossible to find appropriate modelling languages and tools to specify and analys...

Modeling and simulation techniques are today extensively used both in industry and science. Parts of larger systems are, however, typically modeled and simulated by different techniques, tools, and algorithms. In addition, experts from different disciplines use various modeling and simulation techniques. Both these facts make it difficult to study...

Model-based design can shorten the development time of complex systems by the use of simulation techniques. However, it can be hard to simulate the system as a whole if it is developed in a concurrent fashion by multiple and specialized teams. Co-simulation, with the support of the Functional Mockup Interface (FMI) Standard, is proposed as a way to...

It is essential to find new ways of enabling experts in different disciplines to collaborate more efficient in the development of ever more complex systems, under increasing market pressures. One possible solution for this challenge is to use a heterogeneous model-based approach where different teams can produce their conventional models and carry...

There is a tendency to expect, that taking advantage of multicore systems by using concurrency improves the performance of an application. To investigate if this is true, a case study was performed where different concurrency principles were applied to an existing application called the Co-Simulation Orchestration Engine (COE), which did not utiliz...