{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T13:48:06Z","timestamp":1777902486754,"version":"3.51.4"},"reference-count":45,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2021,4,25]],"date-time":"2021-04-25T00:00:00Z","timestamp":1619308800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004675","name":"autodesk","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100004675","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["SIMULATION"],"published-print":{"date-parts":[[2021,7]]},"abstract":"<jats:p>Development of Embedded Real-Time Systems is prone to error, and developing bug-free applications is expensive and no guarantees can be provided. We introduce the concept of Digital Quadruplet which includes: a 3D virtual representation of the physical world (a Digital Twin), a Discrete-Event formal model of the system of interest (called the \u201cDigital Triplet\u201d), which can be used for formal analysis as well as simulation studies, and a physical model of the real system under study for experimentation (called the \u201cDigital Quadruplet\u201d). We focus on the definition of the idea of a Digital Quadruplet and how to make these four apparati consistent and reusable. To do so, we use the Discrete-Event formal model as a center for both simulation and execution of the real-time embedded components with timing constraints, as well as a common mechanism for interfacing with the digital counterparts, providing model continuity throughout the process. Here we focus on a principal part of the Digital Quadruplet idea: the provision of an environment to allow models to be used for simulation (in virtual time), visualization, or execution in real-time. A Discrete-EVent Systems specifications (DEVS) kernel runs on bare-metal hardware platforms, avoiding the use of an Operating RTOS in the platform, and the combination with discrete-event modeling engineering.<\/jats:p>","DOI":"10.1177\/00375497211003130","type":"journal-article","created":{"date-parts":[[2021,4,26]],"date-time":"2021-04-26T02:29:53Z","timestamp":1619404193000},"page":"485-506","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":15,"title":["A DEVS-based engine for building digital quadruplets"],"prefix":"10.1177","volume":"97","author":[{"given":"Daniella","family":"Niyonkuru","sequence":"first","affiliation":[{"name":"Systems and Computer Engineering, Carleton University, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3366-9184","authenticated-orcid":false,"given":"Gabriel","family":"Wainer","sequence":"additional","affiliation":[{"name":"Systems and Computer Engineering, Carleton University, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2021,4,25]]},"reference":[{"key":"bibr1-00375497211003130","volume-title":"Real-time concepts for embedded systems","author":"Qing L","year":"2003"},{"key":"bibr2-00375497211003130","doi-asserted-by":"publisher","DOI":"10.1007\/11813040_1"},{"key":"bibr3-00375497211003130","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2005.851283"},{"key":"bibr4-00375497211003130","first-page":"86","author":"Edwards S","year":"2001","journal-title":"Readings in hardware\/software co-design"},{"key":"bibr5-00375497211003130","volume-title":"Designing real-time systems using imprecise discrete-event system specifications","author":"Moallemi M"},{"key":"bibr6-00375497211003130","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-28554-7_16"},{"key":"bibr7-00375497211003130","doi-asserted-by":"crossref","unstructured":"Boschert S, Rosen R (2016) Digital twin\u2014the simulation aspect. 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