{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T04:28:27Z","timestamp":1750220907147,"version":"3.41.0"},"reference-count":35,"publisher":"Association for Computing Machinery (ACM)","issue":"6","license":[{"start":{"date-parts":[[2019,11,15]],"date-time":"2019-11-15T00:00:00Z","timestamp":1573776000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Embed. Comput. Syst."],"published-print":{"date-parts":[[2019,11,30]]},"abstract":"<jats:p>\n            Co-simulation--based validation of hardware controllers adjoined with plant models, with continuous dynamics, is an important step in model-based design of controllers for Cyber-physical Systems (CPS). Co-simulation suffers from many problems, such as timing delays, skew, race conditions, and so on, making it unsuitable for checking timing properties of CPS. In our approach to validation of controllers, synthesised from their models, the\n            <jats:italic>synthesised<\/jats:italic>\n            controller is adjoined with a\n            <jats:italic>synthesised<\/jats:italic>\n            hardware plant unit. The synthesised plant and controller are then executed synchronously and Metric Interval Temporal Logic (MITL) properties are validated on the closed-loop system. The clock period is chosen, using robustness estimates, such that all timing properties that hold on the controller guiding the discretised plant model also hold on the original case of the continuous-time plant model guided by the controller. Benchmark results show that real-time MITL properties that are vacuously satisfied or violated due to co-simulation artefacts hold correctly in the proposed closed-loop validation framework.\n          <\/jats:p>","DOI":"10.1145\/3362098","type":"journal-article","created":{"date-parts":[[2019,11,15]],"date-time":"2019-11-15T21:16:57Z","timestamp":1573852617000},"page":"1-21","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Robust Design and Validation of Cyber-physical Systems"],"prefix":"10.1145","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1809-4255","authenticated-orcid":false,"given":"Surinder","family":"Sood","sequence":"first","affiliation":[{"name":"University of Auckland, Newmarket, Auckland, NewZealand"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Avinash","family":"Malik","sequence":"additional","affiliation":[{"name":"University of Auckland, Newmarket, Auckland, NewZealand"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Partha","family":"Roop","sequence":"additional","affiliation":[{"name":"University of Auckland, Newmarket, Auckland, NewZealand"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2019,11,15]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2013.2285751"},{"volume-title":"Principles of Cyber-physical Systems","author":"Alur Rajeev","key":"e_1_2_1_2_1","unstructured":"Rajeev Alur . 2015. Principles of Cyber-physical Systems . The MIT Press . Rajeev Alur. 2015. Principles of Cyber-physical Systems. The MIT Press."},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0033565"},{"volume-title":"Proceedings of the 8th ACM International Conference on Embedded Software. ACM, 89--98","author":"Alur Rajeev","key":"e_1_2_1_4_1","unstructured":"Rajeev Alur , Aditya Kanade , S. Ramesh , and K. C. Shashidhar . 2008. Symbolic analysis for improving simulation coverage of Simulink\/Stateflow models . In Proceedings of the 8th ACM International Conference on Embedded Software. ACM, 89--98 . Rajeev Alur, Aditya Kanade, S. Ramesh, and K. C. Shashidhar. 2008. Symbolic analysis for improving simulation coverage of Simulink\/Stateflow models. In Proceedings of the 8th ACM International Conference on Embedded Software. ACM, 89--98."},{"volume-title":"Proceedings of the IEEE 38th International Conference of the Engineering in Medicine and Biology Society (EMBC\u201916)","author":"Andalam Sidharta","key":"e_1_2_1_5_1","unstructured":"Sidharta Andalam , Harshavardhan Ramanna , Avinash Malik , Parthasarathi Roop , Nitish Patel , and Mark L. Trew . 2016. Hybrid automata models of cardiac ventricular electrophysiology for real-time computational applications . In Proceedings of the IEEE 38th International Conference of the Engineering in Medicine and Biology Society (EMBC\u201916) . IEEE, 5595--5598. Sidharta Andalam, Harshavardhan Ramanna, Avinash Malik, Parthasarathi Roop, Nitish Patel, and Mark L. Trew. 2016. Hybrid automata models of cardiac ventricular electrophysiology for real-time computational applications. In Proceedings of the IEEE 38th International Conference of the Engineering in Medicine and Biology Society (EMBC\u201916). IEEE, 5595--5598."},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-19835-9_21"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.tcs.2009.02.042"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.2914"},{"key":"e_1_2_1_9_1","unstructured":"Torsten Blochwitz. 2014. Functional mock-up interface for model exchange and co-simulation. Retrieved from: https:\/\/www.fmi-standard.org\/downloads.  Torsten Blochwitz. 2014. Functional mock-up interface for model exchange and co-simulation. Retrieved from: https:\/\/www.fmi-standard.org\/downloads."},{"key":"e_1_2_1_10_1","unstructured":"C. Brennon and E. Joshua. 2013. Hybrid Systems. Tufts University Course EE194 Lecture. Retrieved from: http:\/\/www.eecs.tufts.edu\/&tilde;khan\/Courses\/Spring2013\/EE194\/Lecs\/Hybrid_Systems_Presentation_Elliott_Costello.pdf.  C. Brennon and E. Joshua. 2013. Hybrid Systems. Tufts University Course EE194 Lecture. Retrieved from: http:\/\/www.eecs.tufts.edu\/&tilde;khan\/Courses\/Spring2013\/EE194\/Lecs\/Hybrid_Systems_Presentation_Elliott_Costello.pdf."},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/EMSOFT.2013.6658580"},{"key":"e_1_2_1_12_1","volume-title":"Proceedings of the 25th ARRB Conference. ARRB Group Ltd, 1--11","author":"Bevrani K.","year":"2012","unstructured":"K. Bevrani , E. Chung , and Marc Miska . 2012 . Evaluation of the GHR car following model for traffic safety studies . In Proceedings of the 25th ARRB Conference. ARRB Group Ltd, 1--11 . K. Bevrani, E. Chung, and Marc Miska. 2012. Evaluation of the GHR car following model for traffic safety studies. In Proceedings of the 25th ARRB Conference. ARRB Group Ltd, 1--11."},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2011.2182653"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-39799-8_18"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10703-017-0286-7"},{"key":"e_1_2_1_16_1","volume-title":"Pappas","author":"Fainekos Georgios E.","year":"2006","unstructured":"Georgios E. Fainekos and George J . Pappas . 2006 . Robustness of temporal logic specifications. In Formal Approaches to Software Testing and Runtime Verification. Springer , 178--192. Georgios E. Fainekos and George J. Pappas. 2006. Robustness of temporal logic specifications. In Formal Approaches to Software Testing and Runtime Verification. Springer, 178--192."},{"key":"e_1_2_1_17_1","volume-title":"Pappas","author":"Fainekos Georgios E.","year":"2007","unstructured":"Georgios E. Fainekos and George J . Pappas . 2007 . Robust sampling for MITL specifications. In Proceedings of the International Conference on Formal Modeling and Analysis of Timed Systems. Springer , 147--162. Georgios E. Fainekos and George J. Pappas. 2007. Robust sampling for MITL specifications. In Proceedings of the International Conference on Formal Modeling and Analysis of Timed Systems. Springer, 147--162."},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-22110-1_30"},{"key":"e_1_2_1_19_1","volume-title":"Kazakov","author":"Bruce-Boye Cecil","year":"2007","unstructured":"Cecil Bruce-Boye , R\u00fcdiger zum Beck , and Dmitry A . Kazakov . 2007 . An approach to distributed remote control based on middleware technology, MATLAB\/Simulink-LabMap\/LabNet framework. In Advances in Computer, Information, and Systems Sciences, and Engineering. Springer , 37--42. Cecil Bruce-Boye, R\u00fcdiger zum Beck, and Dmitry A. Kazakov. 2007. An approach to distributed remote control based on middleware technology, MATLAB\/Simulink-LabMap\/LabNet framework. In Advances in Computer, Information, and Systems Sciences, and Engineering. Springer, 37--42."},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1080\/00423110600563338"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/3179993"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/2442087.2442092"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1145\/2514641.2514650"},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1177\/1557234X11410387"},{"key":"e_1_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.2514\/6.1981-1259"},{"volume-title":"Proceedings of the 7th International Wireless Communications and Mobile Computing Conference (IWCMC\u201911)","author":"Jensen Jeff C.","key":"e_1_2_1_26_1","unstructured":"Jeff C. Jensen , Danica H. Chang , and Edward A. Lee . 2011. A model-based design methodology for cyber-physical systems . In Proceedings of the 7th International Wireless Communications and Mobile Computing Conference (IWCMC\u201911) . IEEE, 1666--1671. Jeff C. Jensen, Danica H. Chang, and Edward A. Lee. 2011. A model-based design methodology for cyber-physical systems. In Proceedings of the 7th International Wireless Communications and Mobile Computing Conference (IWCMC\u201911). IEEE, 1666--1671."},{"key":"e_1_2_1_27_1","volume-title":"An introduction to hybrid system modeling, analysis, and control. Preprints of the First Nonlinear Control Network Pedagogical School","author":"Lygeros John","year":"1999","unstructured":"John Lygeros , George Pappas , and Shankar Sastry . 1999. An introduction to hybrid system modeling, analysis, and control. Preprints of the First Nonlinear Control Network Pedagogical School ( 1999 ), 307--329. http:\/\/citeseerx.ist.psu.edu\/viewdoc\/download?doi&equals;10.1.1.110.4232&rep&equals;&equals;rep1&type&equals;&equals;pdf. John Lygeros, George Pappas, and Shankar Sastry. 1999. An introduction to hybrid system modeling, analysis, and control. Preprints of the First Nonlinear Control Network Pedagogical School (1999), 307--329. http:\/\/citeseerx.ist.psu.edu\/viewdoc\/download?doi&equals;10.1.1.110.4232&rep&equals;&equals;rep1&type&equals;&equals;pdf."},{"key":"e_1_2_1_28_1","volume-title":"Weinberg","author":"Lynch Nancy","year":"1995","unstructured":"Nancy Lynch , Roberto Segala , Frits Vaandrager , and Henri B . Weinberg . 1995 . Hybrid I\/O automata. In Proceedings of the International Hybrid Systems Workshop. Springer , 496--510. Nancy Lynch, Roberto Segala, Frits Vaandrager, and Henri B. Weinberg. 1995. Hybrid I\/O automata. In Proceedings of the International Hybrid Systems Workshop. Springer, 496--510."},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2017.2724206"},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/3126536"},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2015.2453253"},{"volume-title":"Handbook of Networked and Embedded Control Systems","author":"Raskin Jean-Fran\u00e7ois","key":"e_1_2_1_32_1","unstructured":"Jean-Fran\u00e7ois Raskin . 2005. An introduction to hybrid automata . In Handbook of Networked and Embedded Control Systems . Springer , 491--517. Jean-Fran\u00e7ois Raskin. 2005. An introduction to hybrid automata. In Handbook of Networked and Embedded Control Systems. Springer, 491--517."},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2017.2759273"},{"key":"e_1_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/ComplexSys.2015.7385981"},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2011.2167891"}],"container-title":["ACM Transactions on Embedded Computing Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3362098","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3362098","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T23:44:54Z","timestamp":1750203894000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3362098"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11,15]]},"references-count":35,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2019,11,30]]}},"alternative-id":["10.1145\/3362098"],"URL":"https:\/\/doi.org\/10.1145\/3362098","relation":{},"ISSN":["1539-9087","1558-3465"],"issn-type":[{"type":"print","value":"1539-9087"},{"type":"electronic","value":"1558-3465"}],"subject":[],"published":{"date-parts":[[2019,11,15]]},"assertion":[{"value":"2019-08-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-09-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-11-15","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}