Simulation enables preliminary testing of products that may otherwise be dicult, ex-pensive, or dangerous to test physically. Unfortunately, intellectual property concernscan make it dicult or impossible to share the human-readable simulation models toend-users. In fact, there can even be diculties with sharing executables because ofthe possibility for reverse-engineering. This presents a problem when simulating if themodel relies on components for which the source code or executable is not available,such as proprietary components developed by another party. This thesis investigateswhether it is possible to enable a set of networked peers to all take part in computingthe same simulation without any of them having access to the entire model. One way tosolve this problem is to let each system that holds a model of a component to computeits part of the simulation for a single timestep and to share the new state through peer-to-peer connections with the other systems, once a response has been received fromall other peers, the local simulation can advance one timestep and the process can berepeated. But running a simulation over a network can make it signicantly slower,since local operations on the CPU and memory are much faster than operations overa network, and the peers will be spending most of their time waiting for each other asa result. To avoid such delays, each peer maintains expected values for variables thatare not in the local model, and updates are sent only when a local variable changes.These updates are stamped with the local simulation-time, thus allowing the recipientpeers to know when the update is required in the simulations future, or to when itshould be retroactively applied in the simulations past. Using this technique, the peerscan compute their respective local models under the assumption that the variablesthat the other peers control are unchanged. Thus the peers can advance any numberof timesteps without needing to stop and wait for other peers. These techniques willlikely result in wasted work if one or more peers are advancing their simulation timeslower than the others, when this happens, the peers have the ability to re-distributethe workload on the y by transferring control over models. This also makes it possibleto accommodate for systems joining or leaving the simulation while it is running.In this thesis we show that co-simulating in this fashion is a workable option to tra-ditional simulation when the local models are incomplete, but that the performanceis very dependent on the models being simulated. Especially the relation between thefrequency of required synchronizations, and the time to compute a timestep. In ourexperiments with fairly basic models, the performance ratio, compared to traditionalsimulation, ranged between less than one percent of that of traditional simulation, upto roughly 70%. But with slower models always having a better ratio.

The pursuit for higher performance at a lower cost is driving rapid progress in the field of packaged digital systems. As the complexity of interconnects and packages increases, and the rise and fall time of the signal decreases, the electromagnetic effects in distributed passive structures become an important factor in determining the system performance. Hence there is a need to accurately simulate these parasitic electromagnetic effects that are observed in the signal distribution network (SDN) and the power delivery network (PDN) of an electronic system. The accurate simulation of high-speed systems requires information on the high frequency transient currents that are injected into the power distribution network causing simultaneous switching noise. Existing techniques for determining these transient currents are not sufficiently accurate. Furthermore existing transient simulation techniques suffer from two major drawbacks: 1) they are not scalable and hence cannot be applied to large sized systems, and 2) the time domain simulations violate causality. This dissertation addresses the above-mentioned problems in the domain of high-speed packaging. It proposes a new technique to accurately extract the transient switching noise currents in high-speed digital systems. The extracted switching noise currents can be used in both the frequency domain and the time domain to accurately simulate simultaneous switching noise. The dissertation also proposes a methodology for the transient co-simulation of the SDN and the PDN in high-speed digital systems. The methodology enforces causality on the transient simulation and can be scaled to perform large sized simulations. The validity of the proposed techniques has been demonstrated by their application on a variety of real-world test cases.

The modern industry today is highly dependent on electric motors of differenttypes and sizes. Synchronous motors are used in applications where a fixedspeed is desired. These machines are often found in high power applicationswhere they are preferred over induction motors due to their higher efficiency.Synchronous motors represent large investments and typically drive processeswhere downtime results in significant capital losses. Thus, detecting faults atan early stage can help avoid catastrophic failures and be useful in thescheduling of maintenance. In order to detect faulty conditions before theyterminate in a failure, machine operators must perform some kind ofmonitoring on the machines. Typically, the more critical the machine is for aprocess, the more effort is put on monitoring it. Before building a monitoringsystem for a machine, one must first decide what parameters that should bemonitored. The obvious desire is to find a parameter that is easy and cheap tomeasure and at the same time can give detailed information about the workingstate of the machine.The aim of this thesis is to evaluate whether the exciter stator current is anadequate parameter to use within a monitoring system for synchronous motors.The evaluation has been made through simulations of two different setups;One using a synchronous motor in the 20 MW range fed by a synchronousmachine type exciter. And the other using the same motor but instead fed byan induction machine type exciter. It has been found that the exciter statorcurrent can be used for detection of faults associated to the rectifier and statorshort circuit of the main machine stator winding. It has not been possible todetect turn-to-turn faults in the main machine rotor.The work has been performed at ABB Corporate Research in Västerås fromJune until December 2013.

Cyber-physical systems (CPSs) represent a new generation of engineered systems that tightly integrates computations, communications (cyber) and physics. Simulation plays a considerable role in validating CPSs as it substantially reduces the costs and risks in the design-testing cycles. Reliable simulations, however, mandate realistic modeling for both the cyber and the physical aspects. This is especially the case in various networked mobile CPSs (e.g., excavation robots and vehicular networks), where cost and risk may become substantial. Current CPS modeling tools lack complete models of communication. Co-simulation attempts to overcome this limitation by integrating multiple modeling and simulation tools to offer complete models of all aspects of CPSs. In this thesis, we design and implement a co-simulation environment for modeling and simulating networked CPSs. The environment is called AcumenNS3 and it integrates Acumen, a language for modeling hybrid physical systems, with NS-3, a discrete-event network simulator. This environment allows users to augment network simulations with physical models using an easy-to-use modeling language. It provides a seamless integration between network and physics models by providing mobility based on the physical simulation in addition to generic access to the physical state. Using the AcumenNS3 environment, we demonstrate and model example simulation scenarios of networked CPSs. / Thesis (Master, Computing) -- Queen's University, 2014-04-24 14:38:30.039

This thesis deals with the simulation modelling of manipulator mechatronic system in ADAMS. The beginning of thesis is dedicated to the theoretical study of the compute modelling electro-mechanical systems and mechatronics approach modelling manipulator’s systems. Next chapters describe the creation of kinematics model of the manipulator with using ADAMS and proposal supporting frame in ANSYS/Workbench environment. The next step, manipulator and supporting frame simulation model is created for the computing vibration a dynamic analysis. At the end of this thesis is used cosimulation ADAMS and Matlab/Simulink for the control of synchronous drivers of manipulator.

Simulation nimmt eine wesentliche Rolle im Engineering und Betrieb von Maschinen und Anlagen ein. Der manuelle Aufwand, der mit der Modellierung, Simulation sowie der Wartung und Pflege der Modelle einhergeht, ist jedoch nach wie vor über alle Lebenszyklusphasen hinweg erheblich. So müssen Modelle aus unterschiedlichen Disziplinen, wie beispielsweise der Mechanik, der Thermodynamik oder der Elektrik, zu einem Gesamtmodell gekoppelt werden. Kommt es im weiteren Verlauf zu umbaubedingten Änderungen der Anlage, muss das Modell wiederum einem Update unterzogen werden, was erneuten Aufwand bedeutet. In diesem Beitrag erweitern die Autoren ihr bereits vorgestelltes Konzept eines Assistenzsystems zur automatischen Konfiguration und betriebsparallelen Adaption von Co-Simulationen. Ziel ist es, dass produktionsbedingte Umbaumaßnahmen an der realen Anlage automatisch festgestellt, in die Co-Simulation überführt und in einem bestehenden Beschreibungsmittel der Anlage dokumentiert werden. Das erweiterte Konzept wird anhand von zwei industriellen Anwendungsbeispielen aus unterschiedlichen Bereichen der Fertigungstechnik prototypisch validiert.

Indiana University-Purdue University Indianapolis (IUPUI)

Concevoir un système embarqué implique de trouver un compromis algorithme/architecture en fonction des contraintes temps-réel. Thèse : pour un MPSoC et plus particulièrement avec les circuits reconfigurables qui permettent de modifier le support d'exécution en cours de fonctionnement, l'évaluation préalable des comportements fluctuants d'un système réactif devient une nécessité. Il faut donc valider par simulation (de haut niveau) tout en permettant l'exploration de l'espace de conception architectural, matériel et logiciel. Le point de vue du gestionnaire de la plateforme est choisi pour explorer à haut niveau les réactions du système aux choix de partitionnement et surtout l'influence de l'algorithmique des services du système d'exploitation et de leurs implémentations possibles. Pour cela un modèle de services d'OS modulaire permet de simuler fonctionnellement et conjointement, en SystemC, le matériel, les tâches logicielles et le système d'exploitation, répartis sur plusieurs nœuds d'exécution hétérogènes communicants. Le modèle a permis d'évaluer l'architecture temps-réel idéale d'une application dynamique de vision robotique conjointement à l'exploration des services de gestion de zone reconfigurable modélisé. Par ailleurs, ce modèle d'OS à été intégré dans un simulateur de MPSoC hétérogène d'une puissance estimé à un Tera opérations par seconde. / Designing an embedded system implies to look for the right algorithm/architecture compromise depending on the real-time constraints. For MPSoC an especially with reconfigurable devices which enable to modify the running executing support, the preliminary evaluation of the variable behaviors of a reactive system becomes necessary.This could be done by a high level simulation allowing to explore the architectural design space, hardware and software. The platform manager point of view is used to explore the systems reactions to the partitioning choices and also the influence of the various algorithms and the impact of implementations of the operating system's services refined in hardware or software. For that, a SystemC model composed of modular OS services allow to jointly and functionally simulate hardware, software tasks and the operating system, distributed on heterogeneous communicating execution nodes. To evaluate the perfect real-time reconfigurable architecture of a dynamical robot vision application, we explored its partitioning and the useful OS services accordingly. This model has been integrated in a big simulator of an heterogeneous chip designed to provide a Tera operations per second power.

Le bâtiment contribue majoritairement aux enjeux de la transition energétique. Pour mieux réduire ses consommations, assurer un meilleur confort, répondre aux exigences environnementales et règlementaires, tout en minimisant le prix total, nous proposons d’outiller la conception (des phases d’esquisse à la phase de conception plus avancées, …) par des solutions offrant une vision globale du bâtiment et permettant de faire des choix optimaux. La conception en bâtiment est caractérisée par de nombreux modèles et outils de simulation experts complémentaires, mais indépendants et hétérogènes. En réponse à cette problématique d’interopérabilité, nous proposons une approche orientée service, basée sur l’Internet, pour couvrir les aspects de modèlisation globale et d’aide à la décision. Nous abordons plus particulièrement les problématiques liées aux stratégies et algorithmes de co-simulation, d’optimisation multi-objectif hybride discret/continu et l’aide à la décision multicritère. Ce travail est réalisé dans le cadre de l’ANR COSIMPHI en partenariat fort avec le CSTB. / The building contributes mostly to the challenges of energy transition. In order to better reduce consumption, ensure better comfort, answer to the environmental and regulatory requirements while minimizing the total price, we propose to equip the design (from the sketch phase to the more advanced design phases, ...) with solutions offering a global view of the building and making optimal choices. Building design is characterized by many complementary models and simulation tools but they are independent and heterogeneous. In response to this problem of interoperability, we propose a service oriented approach, based on the Internet, to cover the aspects of global modeling and decision support. We address in particular the problems related to co-simulation strategies and algorithms, multi-objective discrete hybrid optimization and multicriteria decision support. This work is carried out within the framework of the ANR COSIMPHI in strong partnership with the CSTB.

Les CPS intègrent des composants physiques et des composants logiciels. Ils sont particulièrement difficiles à modéliser et à vérifier. En effet, de par la nature hétérogène de leurs composants, leur conception nécessite l’utilisation de différents formalismes de modélisation. Les modèles de ces systèmes combinent à la fois des formalismes à temps continu, et d’autres à événements discrets, pour représenter respectivement leurs composants physiques et logiciels. La vérification de l'ensemble du système nécessite donc la composition de ces composants. La vérification globale peut être réalisée par co-simulation des différents composants. En particulier, la norme FMI offre une interface normative pour coupler plusieurs simulateurs dans un environnement de co-simulation, nommé « Master ». Celui-ci est chargé de fournir un algorithme pour une synchronisation efficace des différents composants du système, nommés FMU. Cependant, FMI est initialement conçu pour la co-simulation des processus physiques, avec un support limité des formalismes à événements discrets qui est modèle de calcul et de communication largement utilisé dans les environnements de modélisation spécifiques au logiciel. En particulier, aucune des solutions actuelles de co-simulation basées sur FMI ne permet de le prendre en considération les modèle UML. La thèse défendue dans ce document est que l'ingénierie système en général bénéficierait de l’intégration des modèles UML dans une approche de co-simulation basée sur la norme FMI. Cela permettra à un grand nombre de concepteurs logiciels d’évaluer le comportement de leurs composants logiciels dans un environnement simulé, et donc de les aider à faire les meilleurs choix de conception le plus tôt possible dans leur processus de développement. Cela pourrait également ouvrir de nouvelles perspectives intéressantes pour les ingénieurs système des CPS, en leur permettant d'envisager l’utilisation d’un langage largement utilisé pour la modélisation des composants logiciels de leurs systèmes. L'objectif de cette thèse est de définir et formaliser un environnement de co-simulation basé sur la norme FMI pour les CPS et intégrant des modèles UML pour la partie logicielle. Nous abordons principalement la question d’adaptation entre la sémantique d’exécution définie dans UML et celle de FMI. Notre contribution intervient à deux niveaux : localement, au niveau des modèles UML, et globalement au niveau du « Master ». Localement, nous mettons en place une approche incrémentale où nous abordons différents types de systèmes à événements discrets caractérisant les composants logiciels. Nous basons nos propositions sur les normes OMG fUML et PSCS qui définissent une sémantique d’exécution précise pour un sous-ensemble de UML. Ces deux normes constitue notre socle de définition nous donne une base intéressante et formelle pour l'intégration des modèles UML dans les approches de co-simulation de CPS. Pour chaque type de système, nous identifions d'abord un ensemble de règles pour le modéliser avec UML et les éventuelles extensions à fUML dans le cas où la sémantique d'exécution des éléments UML requis n’est pas définie dans fUML. Ensuite, au niveau global, nous proposons un algorithme de « Master » pour chaque type de systèmes. Les algorithmes de « Master » reposent sur l'adaptation de la sémantique d’exécution des modèles UML et celle de FMI. Sur cette base, le « Master » est capable de propager les données entre les composants et de les stimuler aux bonnes dates durant la simulation. L'approche est illustrée par des cas d'utilisation du domaine des bâtiments intelligents, où l’objectif est d’évaluer différentes stratégies de gestion d'énergie. Ces stratégies représentent des composants logiciels à différents niveaux de contrôle d’un bâtiment pour des fins d’optimisation de son auto-consommation en électricité. / Cyber Physical Systems (CPS) are integrations of physical and computational components. CPS are difficult to model and verify because the heterogeneous nature of their components requires many different modeling formalisms. The global verification of the system can be achieved by co-simulation. FMI standard offers a standard interface to couple two or more simulators in a co-simulation environment, known as master. This latter is responsible for providing an algorithm with efficient orchestration and synchronization of the involved components, known as FMUs. However, FMI was originally intended for co-simulation of physical processes, with limited support for formalisms such as DE and Dara-Flow, even if this kind of formalisms are commonly used to model the logic of software parts of a system. In particular, while UML is the reference standard for software modeling and is very commonly used in industry, none of the present-day FMI-based co-simulation solutions consider UML models. Our thesis is that system engineering in general would greatly benefit from the consideration of UML in FMI-based co-simulation approach. It would indeed enable a significant number of software designers to evaluate the behavior of their software components in their simulated environment, as soon as possible in their development processes, and therefore make early and better design decisions. It would also open new interesting perspectives for CPS system engineers, by allowing them to consider a widely used modeling language for the software parts of their systems. In this context, the objective of this work is to define an FMI-based co-simulation environment for CPS with integration of UML models for software part. Our contribution is twofold: locally at the level of UML models, and globally at the master level. At the local level, we set up an incremental approach where we address different kinds of discrete event systems characterizing the computational components. We base our proposals on OMG standards fUML and PSCS which define precise execution semantics for a subset of UML. They provide an interesting and formal basis for the integration of UML models in CPSs co-simulation approaches. For each kind of system, we first identify a set of rules to model it with UML and potential extensions to fUML in case where execution semantics of the required UML elements are not defined by fUML. Then, at the global level, we propose a master algorithm for each kind of systems. The proposed masters take into account not only external and internal dependencies between components and their capabilities, but also and especially their models of time. They rely on adaptation of fUML semantics to that of the FMI API. Based on these adaptations, the master algorithm is able both to propagate data between components and to trigger them at the correct points of time. The approach is illustrated with use cases from the energy domain where the purpose is to verify energy management strategies defined as software components at different levels of the control module of an energy system.