{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T13:49:50Z","timestamp":1771681790497,"version":"3.50.1"},"reference-count":51,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2017,11,21]],"date-time":"2017-11-21T00:00:00Z","timestamp":1511222400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2017,11,21]],"date-time":"2017-11-21T00:00:00Z","timestamp":1511222400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"name":"Center for Hybrid and Embedded Software Systems"},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1329759"],"award-info":[{"award-number":["1329759"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1446619"],"award-info":[{"award-number":["1446619"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"name":"STARnet, a Semiconductor Research Corporation program sponsored by MARCO and DARPA"},{"DOI":"10.13039\/501100004359","name":"Swedish Research Council","doi-asserted-by":"crossref","award":["623-2013-8591"],"award-info":[{"award-number":["623-2013-8591"]}],"id":[{"id":"10.13039\/501100004359","id-type":"DOI","asserted-by":"crossref"}]},{"name":"iCyPhy Research Center"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Softw Syst Model"],"published-print":{"date-parts":[[2019,6]]},"DOI":"10.1007\/s10270-017-0633-6","type":"journal-article","created":{"date-parts":[[2017,11,21]],"date-time":"2017-11-21T12:52:31Z","timestamp":1511268751000},"page":"1655-1679","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":53,"title":["Hybrid co-simulation: it\u2019s about time"],"prefix":"10.1007","volume":"18","author":[{"given":"Fabio","family":"Cremona","sequence":"first","affiliation":[]},{"given":"Marten","family":"Lohstroh","sequence":"additional","affiliation":[]},{"given":"David","family":"Broman","sequence":"additional","affiliation":[]},{"given":"Edward A.","family":"Lee","sequence":"additional","affiliation":[]},{"given":"Michael","family":"Masin","sequence":"additional","affiliation":[]},{"given":"Stavros","family":"Tripakis","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,11,21]]},"reference":[{"key":"633_CR1","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1016\/0304-3975(94)00202-T","volume":"138","author":"R Alur","year":"1995","unstructured":"Alur, R., Courcoubetis, C., Halbwachs, N., Henzinger, T., Ho, P., Nicollin, X., Olivero, A., Sifakis, J., Yovine, S.: The algorithmic analysis of hybrid systems. Theoret. Comput. Sci. 138, 3\u201334 (1995)","journal-title":"Theoret. Comput. Sci."},{"key":"633_CR2","doi-asserted-by":"crossref","unstructured":"Bastian, J., Clauss, C., Wolf, S., Schneider, P.: Master for co-simulation using FMI. In: 8th Modelica Conference, pp. 115\u2013120 (2011)","DOI":"10.3384\/ecp11063115"},{"key":"633_CR3","doi-asserted-by":"publisher","first-page":"877","DOI":"10.1016\/j.jcss.2011.08.009","volume":"78","author":"A Benveniste","year":"2012","unstructured":"Benveniste, A., Bourke, T., Caillaud, B., Pouzet, M.: Non-standard semantics of hybrid systems modelers. J. Comput. Syst. Sci. 78, 877\u2013910 (2012)","journal-title":"J. Comput. Syst. Sci."},{"issue":"2","key":"633_CR4","doi-asserted-by":"crossref","first-page":"251","DOI":"10.3233\/FI-2009-0043","volume":"91","author":"S Bliudze","year":"2009","unstructured":"Bliudze, S., Krob, D.: Modelling of complex systems: systems as dataflow machines. Fundam. Inform. 91(2), 251\u2013274 (2009)","journal-title":"Fundam. Inform."},{"key":"633_CR5","doi-asserted-by":"crossref","unstructured":"Blochwitz, T., Otter, M., Arnold, M., Bausch, C., Clau\u00df, C., Elmqvist, H., Junghanns, A., Mauss, J., Monteiro, M., Neidhold, T., Neumerkel, D., Olsson, H., Peetz, J.-V., Wolf, S.: The functional mockup interface for tool independent exchange of simulation models. In: Proceedings of the 8-th International Modelica Conference, Dresden, Germany. Modelica Association (2011)","DOI":"10.3384\/ecp11063105"},{"key":"633_CR6","doi-asserted-by":"crossref","unstructured":"Bogomolov, S., Greitschus, M., Jensen, P.\u00a0G., Larsen, K.\u00a0G., Mikucionis, M., Strump, T., Tripakis, S.: Co-simulation of hybrid systems with SpaceEx and Uppaal. In: Proceedings of the 11th International Modelica Conference. Linkoping University Electronic Press (2015)","DOI":"10.3384\/ecp15118159"},{"key":"633_CR7","doi-asserted-by":"crossref","unstructured":"Broman, D., Brooks, C., Greenberg, L., Lee, E.A., Masin, M., Tripakis, S., Wetter, M.: Determinate composition of FMUs for co-simulation. In: Proceedings of the International Conference on Embedded Software (EMSOFT 2013). IEEE (2013)","DOI":"10.1109\/EMSOFT.2013.6658580"},{"key":"633_CR8","doi-asserted-by":"crossref","unstructured":"Broman, D., Greenberg, L., Lee, E.A., Masin, M., Tripakis, S., Wetter, M.: Requirements for hybrid cosimulation standards. In: Proceedings of 18th ACM International Conference on Hybrid Systems: Computation and Control (HSCC), pp. 179\u2013188. ACM (2015)","DOI":"10.1145\/2728606.2728629"},{"key":"633_CR9","doi-asserted-by":"crossref","unstructured":"Broman, D., Lee, E.A., Tripakis, S., T\u00f6rngren, M.: Viewpoints, formalisms, languages, and tools for cyber-physical systems. In: Proceedings of the 6th International Workshop on Multi-Paradigm Modeling, pp. 49\u201354. ACM (2012)","DOI":"10.1145\/2508443.2508452"},{"key":"633_CR10","unstructured":"Broman, D., Siek, J.G.: Modelyze: a gradually typed host language for embedding equation-based modeling languages. Technical report UCB\/EECS-2012-173, EECS Department, University of California, Berkeley (2012)"},{"issue":"1\/2","key":"633_CR11","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1561\/1000000001","volume":"1","author":"LP Carloni","year":"2006","unstructured":"Carloni, L.P., Passerone, R., Pinto, A., Sangiovanni-Vincentelli, A.: Languages and tools for hybrid systems design. Found. Trends Electron. Des. Autom. 1(1\/2), 1\u2013193 (2006)","journal-title":"Found. Trends Electron. Des. Autom."},{"key":"633_CR12","volume-title":"Discrete Event Systems, Modeling and Performance Analysis","author":"CG Cassandras","year":"1993","unstructured":"Cassandras, C.G.: Discrete Event Systems, Modeling and Performance Analysis. CRC Press, Boca Raton (1993)"},{"key":"633_CR13","unstructured":"Cataldo, A., Lee, E., Liu, X., Matsikoudis, E., Zheng, H: A constructive fixed-point theorem and the feedback semantics of timed systems. Michigan. In: Workshop on Discrete Event Systems (WODES), Ann Arbor (2006)"},{"key":"633_CR14","doi-asserted-by":"crossref","unstructured":"Cremona, F., Lohstroh, M., Broman, D., Di\u00a0Natale, M., Lee, E.A., Tripakis, S.: Step revision in hybrid co-simulation with FMI. In: International Conference on Formal Methods and Models for System Design (MEMOCODE) (2016)","DOI":"10.1109\/MEMCOD.2016.7797762"},{"key":"633_CR15","doi-asserted-by":"crossref","unstructured":"Cremona, F., Lohstroh, M., Tripakis, S., Brooks, C., Lee, E.A.: FIDE\u2014an FMI integrated development environment. In: Symposium on Applied Computing (SAC) (2016)","DOI":"10.1145\/2851613.2851677"},{"key":"633_CR16","volume-title":"Measurement, Control, and Communication Using IEEE 1588","author":"JC Eidson","year":"2006","unstructured":"Eidson, J.C.: Measurement, Control, and Communication Using IEEE 1588. Springer, Berlin (2006)"},{"key":"633_CR17","doi-asserted-by":"crossref","unstructured":"Feldman, Y.A., Greenberg, L., Palachi, E.: Simulating rhapsody SysML blocks in hybrid models with FMI. In: 10th Modelica Conference, pp. 43\u201352 (2014)","DOI":"10.3384\/ecp1409643"},{"key":"633_CR18","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-3552-9","volume-title":"Discrete-Event Simulation: Modeling, Programming, and Analysis","author":"GS Fishman","year":"2001","unstructured":"Fishman, G.S.: Discrete-Event Simulation: Modeling, Programming, and Analysis. Springer, Berlin (2001)"},{"key":"633_CR19","doi-asserted-by":"crossref","unstructured":"Frehse, G., Le\u00a0Guernic, C., Donz\u00e9, A., Cotton, S., Ray, R., Lebeltel, O., Ripado, R., Girard, A., Dang, T., Maler, O.: Spaceex: scalable verification of hybrid systems. In: International Conference on Computer Aided Verification, pp. 379\u2013395. Springer (2011)","DOI":"10.1007\/978-3-642-22110-1_30"},{"key":"633_CR20","volume-title":"Principles of Object-Oriented Modeling and Simulation with Modelica 2.1","author":"P Fritzson","year":"2003","unstructured":"Fritzson, P.: Principles of Object-Oriented Modeling and Simulation with Modelica 2.1. Wiley, Hoboken (2003)"},{"issue":"1","key":"633_CR21","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1145\/103162.103163","volume":"23","author":"D Goldberg","year":"1991","unstructured":"Goldberg, D.: What every computer scientist should know about floating-point arithmetic. ACM Comput. Surv. 23(1), 5\u201348 (1991)","journal-title":"ACM Comput. Surv."},{"key":"633_CR22","doi-asserted-by":"publisher","first-page":"265","DOI":"10.1007\/978-3-642-59615-5_13","volume-title":"Verification of Digital and Hybrid Systems, Volume 170 of NATO ASI Series F: Computer and Systems Sciences","author":"TA Henzinger","year":"2000","unstructured":"Henzinger, T.A.: The theory of hybrid automata. In: Inan, M.K., Kurshan, R.P. (eds.) Verification of Digital and Hybrid Systems, Volume 170 of NATO ASI Series F: Computer and Systems Sciences, pp. 265\u2013292. Springer, Berlin (2000)"},{"issue":"2","key":"633_CR23","doi-asserted-by":"publisher","first-page":"157","DOI":"10.1007\/s10270-004-0073-y","volume":"4","author":"G Karsai","year":"2005","unstructured":"Karsai, G., Lang, A., Neema, S.: Design patterns for open tool integration. Softw. Syst. Model. 4(2), 157\u2013170 (2005)","journal-title":"Softw. Syst. Model."},{"issue":"1","key":"633_CR24","doi-asserted-by":"publisher","first-page":"145","DOI":"10.1109\/JPROC.2002.805824","volume":"91","author":"G Karsai","year":"2003","unstructured":"Karsai, G., Sztipanovits, J., Ledeczi, A., Bapty, T.: Model-integrated development of embedded software. Proc. IEEE 91(1), 145\u2013164 (2003)","journal-title":"Proc. IEEE"},{"issue":"1","key":"633_CR25","first-page":"2","volume":"18","author":"E Kofman","year":"2001","unstructured":"Kofman, E., Junco, S.: Quantized-state systems: a DEVS approach for continuous system simulation. Trans. Soc. Model. Simul. Int. 18(1), 2\u20138 (2001)","journal-title":"Trans. Soc. Model. Simul. Int."},{"key":"633_CR26","doi-asserted-by":"crossref","unstructured":"Kopke, P., Henzinger, T., Puri, A., Varaiya, P.: What\u2019s decidable about hybrid automata? In: 27th Annual ACM Symposium on Theory of Computing (STOCS), pp. 372\u2013382 (1995)","DOI":"10.1145\/225058.225162"},{"key":"633_CR27","volume-title":"Creating Computer Simulation Systems: An Introduction to the High Level Architecture","author":"F Kuhl","year":"1999","unstructured":"Kuhl, F., Weatherly, R., Dahmann, J.: Creating Computer Simulation Systems: An Introduction to the High Level Architecture. Prentice Hall PTR, Upper Saddle River (1999)"},{"issue":"1","key":"633_CR28","doi-asserted-by":"publisher","first-page":"134","DOI":"10.1007\/s100090050010","volume":"1","author":"KG Larsen","year":"1997","unstructured":"Larsen, K.G., Pettersson, P., Yi, W.: Uppaal in a nutshell. Int. J. Softw. Tools Technol. Transf. (STTT) 1(1), 134\u2013152 (1997)","journal-title":"Int. J. Softw. Tools Technol. Transf. (STTT)"},{"key":"633_CR29","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1023\/A:1018998524196","volume":"7","author":"EA Lee","year":"1999","unstructured":"Lee, E.A.: Modeling concurrent real-time processes using discrete events. Ann. Softw. Eng. 7, 25\u201345 (1999)","journal-title":"Ann. Softw. Eng."},{"issue":"1","key":"633_CR30","doi-asserted-by":"publisher","first-page":"26","DOI":"10.1145\/2912149","volume":"1","author":"EA Lee","year":"2016","unstructured":"Lee, E.A.: Fundamental limits of cyber-physical systems modeling. ACM Trans. Cyber Phys. Syst. 1(1), 26 (2016)","journal-title":"ACM Trans. Cyber Phys. Syst."},{"key":"633_CR31","doi-asserted-by":"crossref","unstructured":"Lee, E.A., Niknami, M., Nouidui, T.S., Wetter, M.: Modeling and simulating cyber-physical systems using CyPhySim. In: International Conference on Embedded Software (EMSOFT) (2015)","DOI":"10.1109\/EMSOFT.2015.7318266"},{"issue":"12","key":"633_CR32","doi-asserted-by":"publisher","first-page":"1217","DOI":"10.1109\/43.736561","volume":"17","author":"EA Lee","year":"1998","unstructured":"Lee, E.A., Sangiovanni-Vincentelli, A.: A framework for comparing models of computation. IEEE Trans. Comput. Aided Des. Circuits Syst. 17(12), 1217\u20131229 (1998)","journal-title":"IEEE Trans. Comput. Aided Des. Circuits Syst."},{"key":"633_CR33","first-page":"25","volume-title":"Hybrid Systems: Computation and Control (HSCC), Volume LNCS 3414","author":"EA Lee","year":"2005","unstructured":"Lee, E.A., Zheng, H.: Operational semantics of hybrid systems. In: Morari, M., Thiele, L. (eds.) Hybrid Systems: Computation and Control (HSCC), Volume LNCS 3414, pp. 25\u201353. Springer, Zurich (2005)"},{"key":"633_CR34","doi-asserted-by":"crossref","unstructured":"Maler, O., Manna, Z., Pnueli, A.: From timed to hybrid systems. In: Real-Time: Theory and Practice, REX Workshop, pp. 447\u2013484. Springer (1992)","DOI":"10.1007\/BFb0032003"},{"key":"633_CR35","doi-asserted-by":"publisher","first-page":"4","DOI":"10.1007\/3-540-57318-6_22","volume":"736","author":"Z Manna","year":"1993","unstructured":"Manna, Z., Pnueli, A.: Verifying hybrid systems. Hybrid Syst. 736, 4\u201335 (1993)","journal-title":"Hybrid Syst."},{"key":"633_CR36","doi-asserted-by":"publisher","first-page":"118","DOI":"10.1016\/j.simpat.2013.03.004","volume":"35","author":"G Migoni","year":"2013","unstructured":"Migoni, G., Bortolotto, M., Kofman, E., Cellier, F.E.: Linearly implicit quantization-based integration methods for stiff ordinary differential equations. Simul. Model. Pract. Theory 35, 118\u2013136 (2013)","journal-title":"Simul. Model. Pract. Theory"},{"key":"633_CR37","doi-asserted-by":"publisher","first-page":"9","DOI":"10.1145\/956981.956983","volume":"33","author":"DL Mills","year":"2003","unstructured":"Mills, D.L.: A brief history of NTP time: confessions of an internet timekeeper. ACM Comput. Commun. Rev. 33, 9\u201321 (2003)","journal-title":"ACM Comput. Commun. Rev."},{"key":"633_CR38","unstructured":"Modelica Association. Functional mock-up interface for model exchange and co-simulation. Report 2.0 (2014)"},{"key":"633_CR39","unstructured":"Modelica Association. Modelica\u2014A Unified Object-Oriented Language for Physical Systems Modeling\u2014Language Specification Version 3.3 Revision 1. \n                    http:\/\/www.modelica.org\n                    \n                   (2014)"},{"key":"633_CR40","unstructured":"Modelisar Consortium and the Modelica Association. Functional mock-up interface for model exchange and co-simulation. Report Version 2.0. \n                    https:\/\/www.fmi-standard.org\/downloads\n                    \n                   (2014)"},{"key":"633_CR41","unstructured":"Otter, M., Elmqvist, H., L\u00f3pez, J.: Collision handling for the Modelica multibody library. In: Modelica Conference, pp. 45\u201353 (2005). Describes three approaches, impulsive, spring-damper ignoring contact area, and spring-damper including contact area"},{"key":"633_CR42","doi-asserted-by":"crossref","unstructured":"Otter, M., Malmheden, M., Elmqvist, H., Mattsson, S.E., Johnsson, C.: A new formalism for modeling of reactive and hybrid systems. In: Modelica Conference. The Modelica Association (2009)","DOI":"10.3384\/ecp09430108"},{"key":"633_CR43","doi-asserted-by":"crossref","unstructured":"Pohlmann, U., Sch\u00e4fer, W., Reddehase, H., R\u00f6ckemann, J., Wagner, R.: Generating functional mockup units from software specifications. In: 9th Modelica Conference, pp. 765\u2013774 (2012)","DOI":"10.3384\/ecp12076765"},{"key":"633_CR44","volume-title":"System Design, Modeling, and Simulation using Ptolemy II","year":"2014","unstructured":"Ptolemaeus, C. (ed.): System Design, Modeling, and Simulation using Ptolemy II. Ptolemy.org, Berkeley, CA (2014)"},{"key":"633_CR45","doi-asserted-by":"crossref","unstructured":"Schierz, T., Arnold, M., Clauss, C.: Co-simulation with communication step size control in an FMI compatible master algorithm. In: 9th Modelica Conference, pp. 205\u2013214 (2012)","DOI":"10.3384\/ecp12076205"},{"key":"633_CR46","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4419-0224-5","volume-title":"Verification and Control of Hybrid Systems: A Symbolic Approach","author":"P Tabuada","year":"2009","unstructured":"Tabuada, P.: Verification and Control of Hybrid Systems: A Symbolic Approach. Springer, Berlin (2009)"},{"key":"633_CR47","doi-asserted-by":"crossref","unstructured":"Tripakis, S.: Bridging the semantic gap between heterogeneous modeling formalisms and FMI. In: International Conference on Embedded Computer Systems: Architectures, Modeling and Simulation\u2014SAMOS XV (2015)","DOI":"10.1109\/SAMOS.2015.7363660"},{"key":"633_CR48","doi-asserted-by":"publisher","first-page":"834","DOI":"10.1017\/S0960129512000278","volume":"23","author":"S Tripakis","year":"2013","unstructured":"Tripakis, S., Stergiou, C., Shaver, C., Lee, E.A.: A modular formal semantics for Ptolemy. Math. Struct. Comput. Sci. 23, 834\u2013881 (2013)","journal-title":"Math. Struct. Comput. Sci."},{"key":"633_CR49","volume-title":"Theory of Modeling and Simulation","author":"BP Zeigler","year":"2000","unstructured":"Zeigler, B.P., Praehofer, H., Kim, T.G.: Theory of Modeling and Simulation, 2nd edn. Academic Press, Cambridge (2000)","edition":"2"},{"key":"633_CR50","doi-asserted-by":"crossref","unstructured":"Zhu, Y., Westbrook, E., Inoue, J., Chapoutot, A., Salama, C., Peralta, M., Martin, T., Taha, W., O\u2019Malley, M., Cartwright, R., Ames, A., Bhattacharya, R.: Mathematical equations as executable models of mechanical systems. In: Proceedings of the 1st ACM\/IEEE International Conference on Cyber-Physical Systems, ICCPS\u201910, pp. 1\u201311. ACM, New York, NY, USA (2010)","DOI":"10.1145\/1795194.1795196"},{"key":"633_CR51","unstructured":"Zimmer, D.: Equation-Based Modeling of Variable-Structure Systems. PhD thesis, Swiss Federal Institute of Technology, Zurich, Switzerland (2010)"}],"container-title":["Software &amp; Systems Modeling"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10270-017-0633-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10270-017-0633-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10270-017-0633-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,16]],"date-time":"2020-05-16T16:57:17Z","timestamp":1589648237000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10270-017-0633-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,11,21]]},"references-count":51,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2019,6]]}},"alternative-id":["633"],"URL":"https:\/\/doi.org\/10.1007\/s10270-017-0633-6","relation":{},"ISSN":["1619-1366","1619-1374"],"issn-type":[{"value":"1619-1366","type":"print"},{"value":"1619-1374","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,11,21]]},"assertion":[{"value":"29 February 2016","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 December 2016","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 November 2017","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 November 2017","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}