Na busca de maior flexibilidade, agilidade, reuso e consequente redução de custos, esforços tem sido direcionados no sentido de desenvolver métodos e ferramentas de engenharia de sistemas baseados em modelos. Apesar dos avanços recentes, as tecnologias disponíveis ainda despertam dúvidas em relação à sua aplicação prática e seus benefícios. Os maiores obstáculos estão contidos na dificuldade da integração entre ferramentas e troca de informações entre artefatos de diferentes disciplinas. Com o objetivo de comparar a Engenharia Centrado em Documentação (ferramentas CAx) com a Engenharia de Sistemas Baseada em Modelos (MBSE), esse trabalho utilizou um domínio industrial real para extrair, analisar e comparar dados quantitativos e qualitativos do projeto de engenharia. Foi desenvolvido um método de engenharia baseada em modelos com o uso da ferramenta Eclipse para a comparação com o método de engenharia vigente. A linguagem ModelicaML foi utilizada para criar os modelos abstratos enquanto que a ferramenta COMOS® da Siemens® foi utilizada para a realização dos artefatos técnicos multidisciplinares do domínio em estudo. O software OpenModelica foi utilizado para simular o comportamento do sistema a partir da transformação do modelo abstrato para código Modelica com o uso de software escrito em Java. Os dados de engenharia e de gerenciamento do projeto do Sistema de Circulação de Água foram disponibilizados pela General Electric Inspection Technologies GmbH e foram utilizados para a comparação entre os dois métodos analisados. Os testes demonstraram que as ferramentas MBSE necessitam de refinamento, principalmente quando conectam os modelos abstratos às plataformas de execução de projetos. Em contrapartida, MBSE se mostrou uma excelente ferramenta na comunicação entre equipes multidisciplinares, pois proporciona uma linguagem de representação de sistemas abstrata e abrangente. A interligação dos modelos abstratos desenvolvidos em ModelicaML com a plataforma de simulação usando linguagem Modelica foi fundamental na análise e melhor compreensão dos fenômenos envolvidos no processo técnico propiciando um importante avanço na antecipação da detecção de erros em projetos de sistemas de automação. / Achieving more flexibility, agility, reuse and consequently cost reduction in scope of Systems Engineering is an industrial need. In that sense, efforts have been driven to develop Model-Based Systems Engineering tools and methods. Despite of recent progress, there are still doubts in terms of the practical use and benefits. The main issues are related to tool integration and exchange of information between multidisciplinary artifacts. This project is intended to compare Document-Based Engineering (CAx tools) and Model-Based Systems Engineering (MBSE) in scope of Industrial Automation using a real domain. Therefore, a MBSE methodology was developed centered on the Eclipse tool. The ModelicaML language was used to perform abstract modeling while COMOS® from Siemens® was used to develop the multidisciplinary artifacts necessary for the domain under investigation. Furthermore, the OpenModelica environment was used to simulate system and component behavior using object codes generated by a Java tool from the abstract models. The engineering and project management data of the Water Circulation System were made available by General Electric Inspection Technologies GmbH, which served as the case study for this comparison. Tests have shown that the tools involved on this investigation still need further development concerning maturity and exchange of information from abstract models down to domain models. On the other hand, MBSE has proven to be an important tool to match different team approaches and concerns helping on communication using conceptual-wide and abstract symbols. Connecting abstract models from ModelicaML to a simulation environment using Modelica language have been proven to be an important approach to better understand systems behavior and provided an analysis environment for early detection of errors and failures.

This thesis presents Monza, a system for accelerating the simulation of modelsof physical systems described by ordinary differential equations, using a generalpurpose computer with a PCIe FPGA expansion card. The system allows bothautomatic generation of an FPGA implementation from a model described in theModelica programming language, and simulation of said system.Monza accomplishes this by using a customizable hardware architecture forthe FPGA, consisting of a variable number of simple processing elements. A cus-tom compiler, also developed in this thesis, tailors and programs the architectureto run a specific model of a physical system.Testing was done on two test models, a water tank system and a Weibel-lung,with up to several thousand state variables. The resulting system is several timesfaster for smaller models and somewhat slower for larger models compared to aCPU. The conclusion is that the developed hardware architecture and softwaretoolchain is a feasible way of accelerating model execution, but more work isneeded to ensure faster execution at all times.

Na busca de maior flexibilidade, agilidade, reuso e consequente redução de custos, esforços tem sido direcionados no sentido de desenvolver métodos e ferramentas de engenharia de sistemas baseados em modelos. Apesar dos avanços recentes, as tecnologias disponíveis ainda despertam dúvidas em relação à sua aplicação prática e seus benefícios. Os maiores obstáculos estão contidos na dificuldade da integração entre ferramentas e troca de informações entre artefatos de diferentes disciplinas. Com o objetivo de comparar a Engenharia Centrado em Documentação (ferramentas CAx) com a Engenharia de Sistemas Baseada em Modelos (MBSE), esse trabalho utilizou um domínio industrial real para extrair, analisar e comparar dados quantitativos e qualitativos do projeto de engenharia. Foi desenvolvido um método de engenharia baseada em modelos com o uso da ferramenta Eclipse para a comparação com o método de engenharia vigente. A linguagem ModelicaML foi utilizada para criar os modelos abstratos enquanto que a ferramenta COMOS® da Siemens® foi utilizada para a realização dos artefatos técnicos multidisciplinares do domínio em estudo. O software OpenModelica foi utilizado para simular o comportamento do sistema a partir da transformação do modelo abstrato para código Modelica com o uso de software escrito em Java. Os dados de engenharia e de gerenciamento do projeto do Sistema de Circulação de Água foram disponibilizados pela General Electric Inspection Technologies GmbH e foram utilizados para a comparação entre os dois métodos analisados. Os testes demonstraram que as ferramentas MBSE necessitam de refinamento, principalmente quando conectam os modelos abstratos às plataformas de execução de projetos. Em contrapartida, MBSE se mostrou uma excelente ferramenta na comunicação entre equipes multidisciplinares, pois proporciona uma linguagem de representação de sistemas abstrata e abrangente. A interligação dos modelos abstratos desenvolvidos em ModelicaML com a plataforma de simulação usando linguagem Modelica foi fundamental na análise e melhor compreensão dos fenômenos envolvidos no processo técnico propiciando um importante avanço na antecipação da detecção de erros em projetos de sistemas de automação. / Achieving more flexibility, agility, reuse and consequently cost reduction in scope of Systems Engineering is an industrial need. In that sense, efforts have been driven to develop Model-Based Systems Engineering tools and methods. Despite of recent progress, there are still doubts in terms of the practical use and benefits. The main issues are related to tool integration and exchange of information between multidisciplinary artifacts. This project is intended to compare Document-Based Engineering (CAx tools) and Model-Based Systems Engineering (MBSE) in scope of Industrial Automation using a real domain. Therefore, a MBSE methodology was developed centered on the Eclipse tool. The ModelicaML language was used to perform abstract modeling while COMOS® from Siemens® was used to develop the multidisciplinary artifacts necessary for the domain under investigation. Furthermore, the OpenModelica environment was used to simulate system and component behavior using object codes generated by a Java tool from the abstract models. The engineering and project management data of the Water Circulation System were made available by General Electric Inspection Technologies GmbH, which served as the case study for this comparison. Tests have shown that the tools involved on this investigation still need further development concerning maturity and exchange of information from abstract models down to domain models. On the other hand, MBSE has proven to be an important tool to match different team approaches and concerns helping on communication using conceptual-wide and abstract symbols. Connecting abstract models from ModelicaML to a simulation environment using Modelica language have been proven to be an important approach to better understand systems behavior and provided an analysis environment for early detection of errors and failures.

Two ecological models of nitrogen processes in treatment wetlands have been evaluated and compared. These models have been implemented, simulated, and visualized in the Modelica language. The differences and similarities between the Modelica modeling environment used in this thesis and other environments or tools for ecological modeling have been evaluated. The modeling tools evaluated are PowerSim, Simile, Stella, the MathModelica Model Editor, and WEST. The evaluation and the analysis have been performed using McCall’s factors for software quality (McCall et al, 1977), a correlation analysis and the Constant Comparative Method (Glaser&Strauss, 1999). The results show that the modeling tools and the models can both be separated into two categories: Simple Components and Complex Components for the modeling tools, and Simple Models and Complex Models for the models. The major difference between the Simple Components and the Complex Components is the higher possibility of the Complex Components to create and reuse separate components and the higher complexity in these components. The similarities between the categories are that they are consistent, easy to overview and use, if no new components are to be created. The major difference between the Simple Models and the Complex models lies in the number of functions and in the possibility of reuse and expansion. The similarities between all the models are that they are all consequent, logical, valid, specialized, and easy to use if the user has programming skill. To conclude thisthesis, the nitrogen decrease in a constructed treatment wetland can well be simulated using the Nitrification/Denitrification model expressed in Modelica and the MathModelica Model Editor. However, some changes to the Model Editor are recommended to make the creation of the model easier. The most important of these changes are the addition of a tutorial, the ddition of useful error handling and messages, and the removal of unnecessary Visio features.

Modelica is an equation-based object-oriented language (EOO). PELAB at Linköping University along with the OpenModelica development group, is developing a metamodeling extension, MetaModelica, to this language along with a compiler called the OpenModelica Compiler (OMC). The goal of this thesis was to analyze the compiler, extend it with union type support and then write a report about the extension with union types in particular and extension with high level data structures in general, to facilitate further development. The implementation made by this thesis was implemented with the goal of keeping the current structure intact and extending case-clauses where possible. The main parts of the extension is implemented by this thesis work but some parts concerning the pattern matching algorithms are still to be extended. The main goal of this is to bootstrap the OpenModelica Compiler, making it able to compile itself although this is still a goal for the future. With this thesis I also introduce some guidelines for implementing a new highlevel data structure into the compiler and which modules needs extension.

The need for debugging tools for declarative programming languages has increased due to the rapid development of modeling and simulation tools/programs. Declarative equation-based programming languages have the problem of equation systems being over-, or under-constrained. This means that the system of equations has more equations than variables or more variables than equations respectively, making the system of equations unsolvable. In this study a static debugger is implemented in OpenModelica compiler for the equation-based programming language Modelica to make it easier for the programmer or modeler to locate the equation/s causing the unconstrained system of equations. The debugging techniques used by the debugger are developed by Peter Bunus. Those techniques are able to detect unconstrained systems of equations and give solutions by identifying the minimal set ofequation/s that should be removed or which variable/s should be added to an equation/s to make the system solvable. In this study the debugging techniques for detecting and giving a solution for over-constrained system of equations are shown suitable to be used for the programming language Modelica in the OpenModelica compiler.

Using the object-oriented, equation-based modeling language Modelica, it is possible to model and simulate computationally intensive models. To reduce the simulation time, a desirable approach is to perform the simulations on parallel multi-core platforms. For this purpose, several works have been carried out so far, the most recent one includes language enhancements with explicit parallel programing language constructs in the algorithmic parts of the Modelica language. This extension automatically generates parallel simulation code for execution on OpenCL-enabled platforms, and it has been implemented in the open-source OpenModelica environment. However, to ensure that this extension as well as future developments regarding parallel simulations of Modelica models are feasible, performing a systematic benchmarking with respect to a set of appropriate Modelica models is essential, which is the main focus of study in this thesis. In this thesis a benchmark test suite containing computationally intensive Modelica models which are relevant for parallel simulations is presented. The suite is used in this thesis as a means for evaluating the feasibility and performance measurements of the generated OpenCL code when using the new Modelica language extension. In addition, several considerations and suggestions on how the modeler can efficiently parallelize sequential models to achieve better performance on OpenCL-enabled GPUs and multi-coreCPUs are also given. The measurements have been done for both sequential and parallel implementations of the benchmark suite using the generated code from the OpenModelica compiler on different hardware configurations including single and multi-core CPUs as well as GPUs. The gained results in this thesis show that simulating Modelica models using OpenCL as a target language is very feasible. In addition, it is concluded that for models with large data sizes and great level of parallelism, it is possible to achieve considerable speedup on GPUs compared to single and multi-core CPUs.

OpenModelica (www.openmodelica.org) is an open-source Modelica-based modeling and simulation environment intended for industrial as well as academic usage. Its long-term development is supported by a non-profit organization – the Open Source Modelica Consortium OSMC, where Linköping University is a member.The main reason behind this thesis was the need for a user friendly, efficient and modular OpenModelica graphical connection editor. The already existing open source editors were either textual or not so user friendly. As a part of this thesis work a new open source Qt-based cross platform graphical user interface was designed and implemented, called OMEdit, partially based on an existing GUI for hydraulic systems, HOPSAN. The usage of Qt C++ libraries makes this tool more future safe and also allows it to be easily integrated into other parts of the OpenModelica platform.This thesis aims at developing an advanced open source user friendly graphical user interface that provides the users with easy-to-use model creation, connection editing, simulation of models, and plotting of results. The interface is extensible enough to support user-defined extensions/models. Models can be both textual and graphical. From the annotation information in the Modelica models (e.g. Modelica Standard Library components) a connection tree and diagrams can be created. The communication to the OpenModelica Compiler (OMC) Subsystem is performed through a Corba client-server interface. The OMC Corba server provides an interactive API interface. The connection editor will function as the front-end and OMC as the backend. OMEdit communicates with OMC through the interactive API interface, requests the model information and creates models/connection diagrams based on the Modelica annotations standard version 3.2.

The practical result of this thesis is an extension to OpenModelica that transforms Modelica into Figaro. Modelica is an equation-based object-oriented modeling language. OpenModelica is an open source implementation of Modelica. Figaro is a language used for reliability modeling. Figaro is a general representation formalism that can be transformed into reliability models like fault trees. Figaro was designed for fault analysis. Modelica was designed to model the behavior of physical systems and run dynamic simulations. Because of that, you cannot just break components and analyze what happens to a system. This work enables us to have fault analysis in OpenModelica by transforming our Modelica model into a Figaro model and invoke the Figaro compiler. This lets us break particular components and see what happens to the system. This work is part of an ongoing effort to integrate several modeling environments.

Equation-based object-oriented (EOO) modelling languages provide a convenient, declarative method for describing models of cyber-physical systems.Because of the ease of use of EOO languages, large and complex models can be built with limited effort.However, current state-of-the-art tools do not provide the user with enough information when errors appear or simulation results are wrong.It is paramount that the tools give the user enough information to correct errors or understand where the problems that lead to wrong simulation results are located.However, understanding the model translation process of an EOO compiler is a daunting task that not only requires knowledge of the numerical algorithms that the tool executes during simulation, but also the complex symbolic transformations being performed. In this work, we develop and explore methods where the EOO tool records the transformations during the translation process in order to provide better diagnostics, explanations, and analysis.This information can be used to generate better error-messages during translation.It can also be used to provide better debugging for a simulation that produces unexpected results or where numerical methods fail. Meeting deadlines is particularly important for real-time applications.It is usually important to identify possible bottlenecks and either simplify the model or give hints to the compiler that enables it to generate faster code.When profiling and measuring execution times of parts of the model the recorded information can also be used to find out why a particular system is slow.Combined with debugging information, it is possible to find out why this system of equations is slow to solve, which helps understanding what can be done to simplify the model. Finally, we provide a method and tool prototype suitable for speeding up simulations by compiling a simulation executable for a parallel platform by partitioning the model at appropriate places.