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Advanced mechatronic systems have to integrate existing technologies from mechanical, electrical and software engineering. They must be able to adapt their structure and behavior at runtime by reconfiguration to react flexibly to changes in the environment. Therefore, a tight integration of structural and behavioral models of the different domains is required. This integration results in complex reconfigurable hybrid systems, the execution logic of which cannot be addressed directly with existing standard modeling, simulation, and code-generation techniques. We present in this paper how our component-based approach for reconfigurable mechatronic systems, MECHATRONIC UML, efficiently handles the complex interplay of discrete behavior and continuous behavior in a modular manner. In addition, its extension to even more flexible reconfiguration cases is presented.
Advanced mechatronic systems have to integrate existing technologies from mechanical, electrical and software engineering. They must be able to adapt their structure and behavior at runtime by reconfiguration to react flexibly to changes in the environment. Therefore, a tight integration of structural and behavioral models of the different domains is required. This integration results in complex reconfigurable hybrid systems, the execution logic of which cannot be addressed directly with existing standard modeling, simulation, and code-generation techniques. We present in this paper how our component-based approach for reconfigurable mechatronic systems, M ECHATRONIC UML, efficiently handles the complex interplay of discrete behavior and continuous behavior in a modular manner. In addition, its extension to even more flexible reconfiguration cases is presented.
The correctness of model transformations is a crucial element for model-driven engineering of high-quality software. In particular, behavior preservation is an important correctness property avoiding the introduction of semantic errors during the model-driven engineering process. Behavior preservation verification techniques show some kind of behavioral equivalence or refinement between source and target model of the transformation. Automatic tool support is available for verifying behavior preservation at the instance level, i.e., for a given source and target model specified by the model transformation. However, until now there is no sound and automatic verification approach available at the transformation level, i.e., for all source and target models. In this article, we extend our results presented in earlier work (Giese and Lambers, in: Ehrig et al (eds) Graph transformations, Springer, Berlin, 2012) and outline a new transformation-level approach for the sound and automatic verification of behavior preservation captured by bisimulation resp.simulation for outplace model transformations specified by triple graph grammars and semantic definitions given by graph transformation rules. In particular, we first show how behavior preservation can be modeled in a symbolic manner at the transformation level and then describe that transformation-level verification of behavior preservation can be reduced to invariant checking of suitable conditions for graph transformations. We demonstrate that the resulting checking problem can be addressed by our own invariant checker for an example of a transformation between sequence charts and communicating automata.
The correctness of model transformations is a crucial element for model-driven engineering of high quality software. In particular, behavior preservation is the most important correctness property avoiding the introduction of semantic errors during the model-driven engineering process. Behavior preservation verification techniques either show that specific properties are preserved, or more generally and complex, they show some kind of behavioral equivalence or refinement between source and target model of the transformation. Both kinds of behavior preservation verification goals have been presented with automatic tool support for the instance level, i.e. for a given source and target model specified by the model transformation. However, up until now there is no automatic verification approach available at the transformation level, i.e. for all source and target models specified by the model transformation.
In this report, we extend our results presented in [27] and outline a new sophisticated approach for the automatic verification of behavior preservation captured by bisimulation resp. simulation for model transformations specified by triple graph grammars and semantic definitions given by graph transformation rules. In particular, we show that the behavior preservation problem can be reduced to invariant checking for graph transformation and that the resulting checking problem can be addressed by our own invariant checker even for a complex example where a sequence chart is transformed into communicating automata. We further discuss today's limitations of invariant checking for graph transformation and motivate further lines of future work in this direction.
The correctness of model transformations is a crucial element for model-driven engineering of high-quality software. A prerequisite to verify model transformations at the level of the model transformation specification is that an unambiguous formal semantics exists and that the implementation of the model transformation language adheres to this semantics. However, for existing relational model transformation approaches, it is usually not really clear under which constraints particular implementations really conform to the formal semantics. In this paper, we will bridge this gap for the formal semantics of triple graph grammars (TGG) and an existing efficient implementation. While the formal semantics assumes backtracking and ignores non-determinism, practical implementations do not support backtracking, require rule sets that ensure determinism, and include further optimizations. Therefore, we capture how the considered TGG implementation realizes the transformation by means of operational rules, define required criteria, and show conformance to the formal semantics if these criteria are fulfilled. We further outline how static and runtime checks can be employed to guarantee these criteria.
The analysis of behavioral models is of high importance for cyber-physical systems, as the systems often encompass complex behavior based on e.g. concurrent components with mutual exclusion or probabilistic failures on demand. The rule-based formalism of probabilistic timed graph transformation systems is a suitable choice when the models representing states of the system can be understood as graphs and timed and probabilistic behavior is important. However, model checking PTGTSs is limited to systems with rather small state spaces.
We present an approach for the analysis of large scale systems modeled as probabilistic timed graph transformation systems by systematically decomposing their state spaces into manageable fragments. To obtain qualitative and quantitative analysis results for a large scale system, we verify that results obtained for its fragments serve as overapproximations for the corresponding results of the large scale system. Hence, our approach allows for the detection of violations of qualitative and quantitative safety properties for the large scale system under analysis. We consider a running example in which we model shuttles driving on tracks of a large scale topology and for which we verify that shuttles never collide and are unlikely to execute emergency brakes. In our evaluation, we apply an implementation of our approach to the running example.
Service-oriented modeling employs collaborations to capture the coordination of multiple roles in form of service contracts. In case of dynamic collaborations the roles may join and leave the collaboration at runtime and therefore complex structural dynamics can result, which makes it very hard to ensure their correct and safe operation. We present in this paper our approach for modeling and verifying such dynamic collaborations. Modeling is supported using a well-defined subset of UML class diagrams, behavioral rules for the structural dynamics, and UML state machines for the role behavior. To be also able to verify the resulting service-oriented systems, we extended our former results for the automated verification of systems with structural dynamics [7, 8] and developed a compositional reasoning scheme, which enables the reuse of verification results. We outline our approach using the example of autonomous vehicles that use such dynamic collaborations via ad-hoc networking to coordinate and optimize their joint behavior.
Cyber-physical systems achieve sophisticated system behavior exploring the tight interconnection of physical coupling present in classical engineering systems and information technology based coupling. A particular challenging case are systems where these cyber-physical systems are formed ad hoc according to the specific local topology, the available networking capabilities, and the goals and constraints of the subsystems captured by the information processing part. In this paper we present a formalism that permits to model the sketched class of cyber-physical systems. The ad hoc formation of tightly coupled subsystems of arbitrary size are specified using a UML-based graph transformation system approach. Differential equations are employed to define the resulting tightly coupled behavior. Together, both form hybrid graph transformation systems where the graph transformation rules define the discrete steps where the topology or modes may change, while the differential equations capture the continuous behavior in between such discrete changes. In addition, we demonstrate that automated analysis techniques known for timed graph transformation systems for inductive invariants can be extended to also cover the hybrid case for an expressive case of hybrid models where the formed tightly coupled subsystems are restricted to smaller local networks.
In the world of model-driven engineering (MDE) support for traceability and maintenance of traceability information is essential. On the one hand, classical traceability approaches for MDE address this need by supporting automated creation of traceability information on the model element level. On the other hand, global model management approaches manually capture traceability information on the model level. However, there is currently no approach that supports comprehensive traceability, comprising traceability information on both levels, and efficient maintenance of traceability information, which requires a high-degree of automation and scalability. In this article, we present a comprehensive traceability approach that combines classical traceability approaches for MDE and global model management in form of dynamic hierarchical mega models. We further integrate efficient maintenance of traceability information based on top of dynamic hierarchical mega models. The proposed approach is further outlined by using an industrial case study and by presenting an implementation of the concepts in form of a prototype.
Graph databases provide a natural way of storing and querying graph data. In contrast to relational databases, queries over graph databases enable to refer directly to the graph structure of such graph data. For example, graph pattern matching can be employed to formulate queries over graph data.
However, as for relational databases running complex queries can be very time-consuming and ruin the interactivity with the database. One possible approach to deal with this performance issue is to employ database views that consist of pre-computed answers to common and often stated queries. But to ensure that database views yield consistent query results in comparison with the data from which they are derived, these database views must be updated before queries make use of these database views. Such a maintenance of database views must be performed efficiently, otherwise the effort to create and maintain views may not pay off in comparison to processing the queries directly on the data from which the database views are derived.
At the time of writing, graph databases do not support database views and are limited to graph indexes that index nodes and edges of the graph data for fast query evaluation, but do not enable to maintain pre-computed answers of complex queries over graph data. Moreover, the maintenance of database views in graph databases becomes even more challenging when negation and recursion have to be supported as in deductive relational databases.
In this technical report, we present an approach for the efficient and scalable incremental graph view maintenance for deductive graph databases. The main concept of our approach is a generalized discrimination network that enables to model nested graph conditions including negative application conditions and recursion, which specify the content of graph views derived from graph data stored by graph databases. The discrimination network enables to automatically derive generic maintenance rules using graph transformations for maintaining graph views in case the graph data from which the graph views are derived change. We evaluate our approach in terms of a case study using multiple data sets derived from open source projects.
Model-driven software development requires techniques to consistently propagate modifications between different related models to realize its full potential. For large-scale models, efficiency is essential in this respect. In this paper, we present an improved model synchronization algorithm based on triple graph grammars that is highly efficient and, therefore, can also synchronize large-scale models sufficiently fast. We can show, that the overall algorithm has optimal complexity if it is dominating the rule matching and further present extensive measurements that show the efficiency of the presented model transformation and synchronization technique.
Evaluating the performance of self-adaptive systems is challenging due to their interactions with often highly dynamic environments. In the specific case of self-healing systems, the performance evaluations of self-healing approaches and their parameter tuning rely on the considered characteristics of failure occurrences and the resulting interactions with the self-healing actions. In this paper, we first study the state-of-the-art for evaluating the performances of self-healing systems by means of a systematic literature review. We provide a classification of different input types for such systems and analyse the limitations of each input type. A main finding is that the employed inputs are often not sophisticated regarding the considered characteristics for failure occurrences. To further study the impact of the identified limitations, we present experiments demonstrating that wrong assumptions regarding the characteristics of the failure occurrences can result in large performance prediction errors, disadvantageous design-time decisions concerning the selection of alternative self-healing approaches, and disadvantageous deployment-time decisions concerning parameter tuning. Furthermore, the experiments indicate that employing multiple alternative input characteristics can help with reducing the risk of premature disadvantageous design-time decisions.
In this extended abstract, we will analyze the current challenges for the envisioned Self-Adaptive CPS. In addition, we will outline our results to approach these challenges with SMARTSOS [10] a generic approach based on extensions of graph transformation systems employing open and adaptive collaborations and models at runtime for trustworthy self-adaptation, self-organization, and evolution of the individual systems and the system-of-systems level taking the independent development, operation, management, and evolution of these systems into account.
Embedded real-time systems generate state sequences where time elapses between state changes. Ensuring that such systems adhere to a provided specification of admissible or desired behavior is essential. Formal model-based testing is often a suitable cost-effective approach. We introduce an extended version of the formalism of symbolic graphs, which encompasses types as well as attributes, for representing states of dynamic systems. Relying on this extension of symbolic graphs, we present a novel formalism of timed graph transformation systems (TGTSs) that supports the model-based development of dynamic real-time systems at an abstract level where possible state changes and delays are specified by graph transformation rules. We then introduce an extended form of the metric temporal graph logic (MTGL) with increased expressiveness to improve the applicability of MTGL for the specification of timed graph sequences generated by a TGTS. Based on the metric temporal operators of MTGL and its built-in graph binding mechanics, we express properties on the structure and attributes of graphs as well as on the occurrence of graphs over time that are related by their inner structure. We provide formal support for checking whether a single generated timed graph sequence adheres to a provided MTGL specification. Relying on this logical foundation, we develop a testing framework for TGTSs that are specified using MTGL. Lastly, we apply this testing framework to a running example by using our prototypical implementation in the tool AutoGraph.
The model-driven software development paradigm requires that appropriate model transformations are applicable in different stages of the development process. The transformations have to consistently propagate changes between the different involved models and thus ensure a proper model synchronization. However, most approaches today do not fully support the requirements for model synchronization and focus only on classical one-way batch-oriented transformations. In this paper, we present our approach for an incremental model transformation which supports model synchronization. Our approach employs the visual, formal, and bidirectional transformation technique of triple graph grammars. Using this declarative specification formalism, we focus on the efficient execution of the transformation rules and how to achieve an incremental model transformation for synchronization purposes. We present an evaluation of our approach and demonstrate that due to the speedup for the incremental processing in the average case even larger models can be tackled.
Monitoring is a key functionality for automated decision making as it is performed by self-adaptive systems, too. Effective monitoring provides the relevant information on time. This can be achieved with exhaustive monitoring causing a high overhead consumption of economical and ecological resources. In contrast, our generic adaptive monitoring approach supports effectiveness with increased efficiency. Also, it adapts to changes regarding the information demand and the monitored system without additional configuration and software implementation effort. The approach observes the executions of runtime model queries and processes change events to determine the currently required monitoring configuration. In this paper we explicate different possibilities to use the approach and evaluate their characteristics regarding the phenomenon detection time and the monitoring effort. Our approach allows balancing between those two characteristics. This makes it an interesting option for the monitoring function of self-adaptive systems because for them usually very short-lived phenomena are not relevant.
In recent years, the increased interest in application areas such as social networks has resulted in a rising popularity of graph-based approaches for storing and processing large amounts of interconnected data. To extract useful information from the growing network structures, efficient querying techniques are required.
In this paper, we propose an approach for graph pattern matching that allows a uniform handling of arbitrary constraints over the query vertices. Our technique builds on a previously introduced matching algorithm, which takes concrete host graph information into account to dynamically adapt the employed search plan during query execution. The dynamic algorithm is combined with an existing static approach for search plan generation, resulting in a hybrid technique which we further extend by a more sophisticated handling of filtering effects caused by constraint checks. We evaluate the presented concepts empirically based on an implementation for our graph pattern matching tool, the Story Diagram Interpreter, with queries and data provided by the LDBC Social Network Benchmark. Our results suggest that the hybrid technique may improve search efficiency in several cases, and rarely reduces efficiency.
Improving scalability and reward of utility-driven self-healing for large dynamic architectures
(2020)
Self-adaptation can be realized in various ways. Rule-based approaches prescribe the adaptation to be executed if the system or environment satisfies certain conditions. They result in scalable solutions but often with merely satisfying adaptation decisions. In contrast, utility-driven approaches determine optimal decisions by using an often costly optimization, which typically does not scale for large problems. We propose a rule-based and utility-driven adaptation scheme that achieves the benefits of both directions such that the adaptation decisions are optimal, whereas the computation scales by avoiding an expensive optimization. We use this adaptation scheme for architecture-based self-healing of large software systems. For this purpose, we define the utility for large dynamic architectures of such systems based on patterns that define issues the self-healing must address. Moreover, we use pattern-based adaptation rules to resolve these issues. Using a pattern-based scheme to define the utility and adaptation rules allows us to compute the impact of each rule application on the overall utility and to realize an incremental and efficient utility-driven self-healing. In addition to formally analyzing the computational effort and optimality of the proposed scheme, we thoroughly demonstrate its scalability and optimality in terms of reward in comparative experiments with a static rule-based approach as a baseline and a utility-driven approach using a constraint solver. These experiments are based on different failure profiles derived from real-world failure logs. We also investigate the impact of different failure profile characteristics on the scalability and reward to evaluate the robustness of the different approaches.
Incremental View Maintenance for Deductive Graph Databases Using Generalized Discrimination Networks
(2016)
Nowadays, graph databases are employed when relationships between entities are in the scope of database queries to avoid performance-critical join operations of relational databases. Graph queries are used to query and modify graphs stored in graph databases. Graph queries employ graph pattern matching that is NP-complete for subgraph isomorphism. Graph database views can be employed that keep ready answers in terms of precalculated graph pattern matches for often stated and complex graph queries to increase query performance. However, such graph database views must be kept consistent with the graphs stored in the graph database. In this paper, we describe how to use incremental graph pattern matching as technique for maintaining graph database views. We present an incremental maintenance algorithm for graph database views, which works for imperatively and declaratively specified graph queries. The evaluation shows that our maintenance algorithm scales when the number of nodes and edges stored in the graph database increases. Furthermore, our evaluation shows that our approach can outperform existing approaches for the incremental maintenance of graph query results.