Formal Verification of Control Modules in Cyber-Physical Systems
Abstract
:1. Introduction
- ▪
- A novel rule-based representation of a state-based control part in a cyber-physical system is proposed, which is also a basis for the automatic generation of a synthesizable model in the VHDL language (Very High Speed Integrated Circuit Hardware Description Language) for prototype implementation in an FPGA (Field-Programmable Gate Array) device.
- ▪
- The model checking technique is applied and the abstract rule-based logical model is automatically transformed into a verifiable model (in the nuXmv format).
- ▪
- The proposed method is supported by formal algorithms.
- ▪
- The simplicity of UML diagrams is combined with the benefits of formal methods of verification.
- ▪
- The approach can successfully be used in design of control part of automation manufacturing cyber-physical systems.
2. Related Work
2.1. Design of CPS
2.2. Verification of CPS and UML State Machines
3. The Proposed Rule-Based Approach
3.1. Preliminaries
A rule-based logical model is a formal notation of control system behavior, consisting of the five following sections: definition of variables (here: states, input and output signals) Var = {S, X, Y}; initial values of variables Var0 = {S0, X0, Y0}; rules as descriptions of transitions T; input signal changes and output signal changes.
3.2. General Description
3.3. Rule-Based Representation of a State-Based Control Part of a CPS
3.3.1. Definition of Variables
Algorithm 1. Generation of the VARIABLES section in the rule-based logical model. | |
Require: Structure of the UML state machine diagram Ensure: Construction of the VARIABLES section in the rule-based logical model | |
1: | add keyword VARIABLES |
2: | add keyword places: // definition of states (as places) |
3: | for all si∈ Sdo |
4: | add si to the set; ⇨ places: s0, s1, s2, … |
5: | end for |
6: | add keyword inputs: // definition of input signals |
7: | for all xj∈ X do |
8: | add xj to the set of inputs; ⇨ inputs: x0, x1, x2, … |
9: | end for |
10: | add keyword outputs: // definition of output signals |
11: | for all yk∈ Y do |
12: | add yk to the set of output; ⇨ outputs: y0, y1, y2, … |
13: | end for |
3.3.2. Initialization of Variables
Algorithm 2. Generation of the INITIALLY section in the rule-based logical model. | |
Require: Variables in the rule-based logical model and initial state indication Ensure: Construction of the INITIALLY section in the rule-based logical model | |
1: | add keyword INITIALLY |
2: | set the initial state by writing s0 // set initial pseudo-state active |
3: | for all other si∈ S starting from i = 1 do // and other inactive |
4: | write !si; |
5: | end for |
6: | for all xj∈ X do // set all input signals initially as inactive |
7: | write !xj; |
8: | end for |
9: | for all yk∈ Y do // set all output signals initially as inactive |
10: | write !yk; |
11: | end for |
3.3.3. Transitions
Algorithm 3. Generation of the TRANSITIONS section in the rule-based logical model. | |
Require: Variables in the rule-based logical and transitions in the UML state machine diagram Ensure: Construction of the TRANSITIONS section in the rule-based logical model | |
1: | add keyword TRANSITIONS |
2: | for all tm∈ T do // define one rule for each transition |
3: | add label tm: |
4: | add the preconditions // specify preceding states & input signals |
5: | add keyword -> X |
6: | add the postconditions // specify following states |
7: | end for |
3.3.4. Input Signals
Algorithm 4. Generation of the INPUTS section in the rule-based logical model. | |
Require: UML state machine diagram, focus on guarded transitions Ensure: Construction of the INPUTS section in the rule-based logical model | |
1: | add keyword INPUTS |
2: | for all tm∈ T do |
3: | if tm has assigned a condition then |
4: | assign input signal to preceding state by writing |
5: | si -> !input | input; // if state si is active, then the input signal may be activated or deactivated end if |
6: | end for |
3.3.5. Output Signals
Algorithm 5. Generation of the OUTPUTS section in the rule-based logical model. | |
Require: States of the UML state machine diagram Ensure: Construction of the OUTPUTS section in the rule-based logical model | |
1: | add keyword OUTPUTS |
2: | for all si∈ S do |
3: | if si has assigned an output signal then |
4: | write si -> output; |
5: | end if |
6: | end for |
3.4. General Description of Transformations into a Verifiable Model and a Synthesizable Model
3.5. Illustration
4. Case Study of a Modern Manufacturing Automation System
4.1. Specification with UML State Machines
4.2. Construction of the Rule-Based Logical Model
4.3. Formal Verification of User-Defined Requirements
4.4. Further Steps
5. Discussion
6. Conclusions
Funding
Conflicts of Interest
References
- Guo, Y.; Hu, X.; Hu, B.; Cheng, J.; Zhou, M.; Kwok, R.Y.K. Mobile cyber physical systems: Current challenges and future networking applications. IEEE Access 2018, 6, 12360–12368. [Google Scholar] [CrossRef]
- Dey, N.; Ashour, A.S.; Shi, F.; Fong, S.J.; Tavares, J.M.R. Medical cyber-physical systems: A survey. J. Med. Syst. 2017, 42, 74. [Google Scholar] [CrossRef] [PubMed] [Green Version]
- Jia, D.; Lu, K.; Wang, J.; Zhang, X.; Shen, X. A Survey on Platoon-Based Vehicular Cyber-Physical Systems. IEEE Commun. Surv. Tutor. 2016, 18, 263–284. [Google Scholar] [CrossRef] [Green Version]
- Khaitan, S.K.; McCalley, J.D. Cyber physical system approach for design of power grids: A survey. In Proceedings of the 2013 IEEE Power and Energy Society General Meeting, Vancouver, BC, Canada, 21–25 July 2013. [Google Scholar] [CrossRef]
- Khaitan, S.K.; McCalley, J.D. Design techniques and applications of cyberphysical systems: A survey. IEEE Syst. J. 2015, 9, 350–365. [Google Scholar] [CrossRef]
- Shih, C.; Chou, J.; Reijers, N.; Kuo, T. Designing CPS/IoT applications for smart buildings and cities. IET Cyber-Phys. Syst. Theory Appl. 2016, 1, 3–12. [Google Scholar] [CrossRef]
- Zhang, Y.; Qiu, M.; Tsai, C.; Hassan, M.M.; Alamri, A. Health-CPS: Healthcare Cyber-Physical System Assisted by Cloud and Big Data. IEEE Syst. J. 2017, 11, 88–95. [Google Scholar] [CrossRef]
- Lee, E.A.; Seshia, S.A. Introduction to Embedded Systems, a Cyber-Physical Systems Approach, 2nd ed.; MIT Press: Cambridge, MA, USA, 2017; ISBN 978-0-262-53381-2. [Google Scholar]
- Lee, J.; Bagheri, B.; Kao, H.-A. A Cyber-Physical Systems architecture for Industry 4.0-based manufacturing systems. Manuf. Lett. 2015, 3, 18–23. [Google Scholar] [CrossRef]
- Gomes, L.; Barros, J.; Costa, A. Modeling Formalisms for Embedded System Design, Embedded Systems Handbook; Taylor and Francis Group, LLC: Melbourne, Australia, 2006. [Google Scholar]
- David, R.; Alla, H. Discrete, Continuous, and Hybrid Petri Nets; Springer: Berlin/Heidelberg, Germany, 2005. [Google Scholar]
- Grobelna, I.; Wiśniewski, R.; Grobelny, M.; Wiśniewska, M. Design and Verification of Real-Life Processes with Application of Petri Nets. IEEE Trans. Syst. Man Cybern. Syst. 2016, 47, 2856–2869. [Google Scholar] [CrossRef]
- Zurawski, R.; Zhou, M. Petri nets and industrial applications: A tutorial. IEEE Trans. Ind. Electron. 1994, 41, 567–583. [Google Scholar] [CrossRef]
- Harel, D.; Politi, M. Modeling Reactive Systems with Statecharts: The STATEMATE Approach; McGraw-Hill, Inc.: New York, NY, USA, 1998. [Google Scholar]
- Łabiak, G.; Bazydło, G. Model Driven Architecture Approach to Logic Controller Design. In Proceedings of the 14th International Conference of Computational Methods in Sciences and Engineering (ICCMSE-2018), Thessaloniki, Greece, 14–18 March 2018. [Google Scholar]
- Meghzili, S.; Chaoui, A.; Strecker, M.; Kerkouche, E. Verification of Model Transformations Using Isabelle/HOL and Scala. Inf. Syst. Front. 2019, 21, 45–65. [Google Scholar] [CrossRef]
- Batchkova, I.A.; Tz, I.; Chernev, V. Modeling of cyber-physical systems using UML profiles. Industry 4.0 2016, 1, 15–18. [Google Scholar]
- Liu, Z.; Liu, J.; He, J.; Ding, Z. Spatio-temporal UML statechart for cyber-physical systems. In Proceedings of the 17th International Conference on Engineering of Complex Computer Systems (IEEE 2012), Paris, France, 18–20 July 2012; pp. 137–146. [Google Scholar]
- Schneider, G.F.; Wicaksono, H.; Ovtcharova, J. Virtual engineering of cyber-physical automation systems: The case of control logic. Adv. Eng. Inform. 2019, 39, 127–143. [Google Scholar] [CrossRef]
- Thramboulidis, K.; Christoulakis, F. UML4IoT—A UML-based approach to exploit IoT in cyber-physical manufacturing systems. Comput. Ind. 2016, 82, 259–272. [Google Scholar] [CrossRef]
- Wang, J.; Yu, H.; Leng, C. Sequence composition analysis of noninterference in cyber-physical system with Petri net. Int. J. Secur. Its Appl. 2014, 8, 185–192. [Google Scholar] [CrossRef] [Green Version]
- Wiśniewski, R.; Wiśniewska, M.; Jarnut, M. C-exact Hypergraphs in Concurrency and Sequentiality Analyses of Cyber-Physical Systems Specified by Safe Petri Nets. IEEE Access 2019, 7, 13510–13522. [Google Scholar] [CrossRef]
- Wisniewski, R.; Bazydło, G.; Szcześniak, P.; Grobelna, I.; Wojnakowski, M. Design and Verification of Cyber-Physical Systems Specified by Petri Nets—A Case Study of a Direct Matrix Converter. Mathematics 2019, 7, 812. [Google Scholar] [CrossRef] [Green Version]
- Grobelna, I. Model checking of reconfigurable FPGA modules specified by Petri nets. J. Syst. Archit. 2018, 89, 1–9. [Google Scholar] [CrossRef]
- Karatkevich, A. Dynamic Analysis of Petri Net-Based Discrete Systems; LNCIS 356; Springer: Berlin/Heidelberg, Germany, 2007. [Google Scholar]
- Grobelna, I.; Grobelny, M.; Adamski, M. Model checking of UML activity diagrams in logic controllers design. In Proceedings of the 9th International Conference on Dependability and Complex Systems DepCoS-RELCOMEX, Brunów, Poland, 30 June–4 July 2014; Springer: Cham, Switzerland, 2014; pp. 233–242. [Google Scholar]
- Grobelna, I.; Grobelny, M.; Stefanowicz, Ł. A rule-based approach to model checking of UML state machines. In Proceedings of the International Conference of Computational Methods in Sciences and Engineering (ICCMSE 2016), Athens, Greece, 17–20 March 2016. [Google Scholar] [CrossRef]
- Bozzano, M.; Cimatti, A.; Katoen, J.-P.; Katsaros, P.; Mokos, K.; Nguyen, V.; Noll, T.; Postma, B.; Roveri, M. Spacecraft early design validation using formal methods. Reliab. Eng. Syst. Saf. 2014, 132, 20–35. [Google Scholar] [CrossRef] [Green Version]
- Kropf, T. Introduction to Formal Hardware Verification: Methods and Tools for Designing Correct Circuits and Systems; Springer: Berlin/Heidelberg, Germany, 1999. [Google Scholar]
- Woodcock, J.; Larsen, P.; Bicarrequi, J.; Fitzgerald, J. Formal methods: Practice and experience. ACM Comp. Surv. 2009, 41, 19. [Google Scholar] [CrossRef]
- Huth, M.; Ryan, M. Logic in Computer Science. Modelling and Reasoning about Systems; Cambridge University Press: New York, NY, USA, 2004. [Google Scholar]
- Clarke, E.; Grumberg, O.; Peled, D. Model Checking; The MIT Press: Cambridge, MA, USA, 1999. [Google Scholar]
- Cavada, R.; Cimatti, A.; Dorigatti, M.; Griggio, A.; Mariotti, A.; Micheli, A.; Mover, S.; Roveri, M.; Tonetta, S. The nuXmv Symbolic Model Checker. In Computer Aided Verification; Biere, A., Bloem, R., Eds.; Lecture Notes in Computer Science; Springer: Cham, Switzerland, 2014. [Google Scholar]
- Samad, T.; Annaswamy, A.M. The Impact of Control Technology. IEEE Control Syst. Soc. 2011, 1, 246. [Google Scholar]
- Lee, E. Cyber Physical Systems: Design Challenges. In Proceedings of the 11th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC 2008), Orlando, FL, USA, 5–7 May 2008. [Google Scholar]
- Shi, J.; Wan, J.; Yan, H.; Suo, H. A survey of cyber-physical systems. In Proceedings of the International Conference on Wireless Communications and Signal Processing (WCSP 2011), Nanjing, China, 9–11 November 2011; pp. 1–6. [Google Scholar]
- Gunes, V.; Peter, S.; Givargis, T.; Vahid, F. A survey on concepts, applications, and challenges in cyber-physical systems. KSII Trans. Internet Inf. Syst. 2014, 8, 4242–4268. [Google Scholar]
- Kim, K.D.; Kumar, P.R. Cyber–physical systems: A perspective at the centennial. Proc. IEEE 2012, 100, 1287–1308. [Google Scholar]
- Sun, C.-C.; Liu, C.-C.; Xie, J. Cyber-Physical System Security of a Power Grid: State-of-the-Art. Electronics 2016, 5, 40. [Google Scholar] [CrossRef] [Green Version]
- Sun, Y.; McMillin, B.; Liu, X.; Cape, D. Verifying Noninterference in a Cyber-Physical System the Advanced Electric Power Grid. In Proceedings of the 7th International Conference on Quality Software (QSIC 2007), Portland, OR, USA, 11–12 October 2007; pp. 363–369. [Google Scholar] [CrossRef]
- He, X.; Dong, Z.; Yin, H.; Fu, Y. A Framework for Developing Cyber-Physical Systems. Int. J. Softw. Eng. Knowl. Eng. 2017, 27, 1361–1386. [Google Scholar] [CrossRef]
- Nikolakis, N.; Maratos, V.; Makris, S. A cyber physical system (CPS) approach for safe human-robot collaboration in a shared workplace. Robot. Comput.-Integr. Manuf. 2019, 56, 233–243. [Google Scholar] [CrossRef]
- Karsai, G.; Sztipanovits, J. Model-Integrated Development of Cyber-Physical Systems, In Software Technologies for Embedded and Ubiquitous Systems; Brinkschulte, U., Givargis, T., Russo, S., Eds.; LNCS 5287; Springer: Berlin/Heidelberg, Germany, 2008. [Google Scholar] [CrossRef]
- Quadri, I.R.; Bagnato, A.; Brosse, E.; Sadovykh, A. Modeling Methodologies for Cyber-Physical Systems: Research Field Study on Inherent and Future Challenges. Ada User J. 2015, 36, 246–253. [Google Scholar]
- Gerostathopoulos, I. Model-Driven Development of Software-Intensive Cyber-Physical Systems. Ph.D. Thesis, Charles University, Prague, Czech Republic, 2015. [Google Scholar]
- Zheng, X.; Julien, C.; Kim, M.; Khurshid, S. Perceptions on the State of the Art in Verification and Validation in Cyber-Physical Systems. IEEE Syst. J. 2017, 11, 2614–2627. [Google Scholar] [CrossRef]
- Akella, R.; McMillin, B.M. Model-checking BNDC properties in cyber-physical systems. In Proceedings of the 33rd Annual IEEE International Computer Software and Applications Conference, Seattle, WA, USA, 20–24 July 2009; pp. 660–663. [Google Scholar] [CrossRef]
- Clarke, E.M.; Zuliani, P. Statistical Model Checking for Cyber-Physical Systems. In Automated Technology for Verification and Analysis; Bultan, T., Hsiung, P.A., Eds.; Lecture Notes in Computer Science; Springer: Berlin/Heidelberg, Germany, 2011. [Google Scholar] [CrossRef]
- Bu, L.; Wang, Q.; Chen, X.; Wang, L.; Zhang, T.; Zhao, J.; Li, X. Toward online hybrid systems model checking of cyber-physical systems’ time-bounded short-run behavior. ACM SIGBED Rev. 2011, 8, 7–10. [Google Scholar] [CrossRef]
- Thacker, R.A.; Jones, K.R.; Myers, C.J.; Zheng, H. Automatic abstraction for verification of cyber-physical systems. In Proceedings of the 1st ACM/IEEE International Conference on Cyber-Physical Systems, Stockholm, Sweden, 13–14 April 2010; ACM: New York, NY, USA; pp. 12–21. [Google Scholar] [CrossRef] [Green Version]
- Gerking, C.; Schäfer, W.; Dziwok, S.; Heinzemann, C. Domain-Specific Model Checking for Cyber-Physical Systems. In Proceedings of the 12th Workshop on Model-Driven Engineering, Verification and Validation, Ottawa, ON, Canada, 29 September 2015. [Google Scholar]
- Shafi, Q. Cyber Physical Systems Security: A Brief Survey. In Proceedings of the 12th International Conference on Computational Science and Its Applications, Salvador, Brazil, 18–21 June 2012; pp. 146–150. [Google Scholar] [CrossRef]
- Humayed, A.; Lin, J.; Li, F.; Luo, B. Cyber-Physical Systems Security—A Survey. IEEE Internet Things J. 2017, 4, 1802–1831. [Google Scholar] [CrossRef]
- Lun, Y.Z.; D’Innocenzo, A.; Smarra, F.; Malavolta, I.; Di Benedetto, M.D. State of the art of cyber-physical systems security: An automatic control perspective. J. Syst. Softw. 2019, 149, 174–216. [Google Scholar] [CrossRef] [Green Version]
- Rashid, A.; Siddique, U.; Tahar, S. Formal Verification of Cyber-Physical Systems Using Theorem Proving. In Formal Techniques for Safety-Critical Systems; Hasan, O., Mallet, F., Eds.; Springer International Publishing: Cham, Switzerland, 2019; Volume 1165, pp. 3–18. [Google Scholar] [CrossRef]
- Bernardeschi, C.; Domenici, A.; Saponara, S. Formal Verification in the Loop to Enhance Verification of Safety-Critical Cyber-physical Systems. Electron. Commun. EASST 2019, 77, 1–9. [Google Scholar] [CrossRef]
- Luckeneder, C.; Kaindl, H. Systematic top-down design of cyber-physical models with integrated validation and formal verification. In Proceedings of the 40th International Conference on Software Engineering: Companion Proceeedings, Gothenburg, Sweden, 27 May–3 June 2018; pp. 274–275. [Google Scholar] [CrossRef]
- Luckeneder, C.; Kaindl, H. A case study of systematic top-down design of cyber-physical models with integrated validation and formal verification. In Proceedings of the 34th ACM/SIGAPP Symposium on Applied Computing, Limassol, Cyprus, 8–12 April 2019; pp. 1828–1836. [Google Scholar] [CrossRef]
- Misson, H.A.; Gonçalves, F.S.; Becker, L.B. Applying Integrated Formal Methods on CPS Design. In Proceedings of the IX Brazilian Symposium on Computing Systems Engineering (SBESC 2019), Natal, Brazil, 19–22 November 2019; pp. 1–8. [Google Scholar] [CrossRef]
- Naumchev, A.; Sadovykh, A.; Ivanov, V. VERCORS: Hardware and Software Complex for Intelligent Round-Trip Formalized Verification of Dependable Cyber-Physical Systems in a Digital Twin Environment (Position Paper). In Software Technology: Methods and Tools; Mazzara, M., Bruel, J.M., Meyer, B., Petrenko, A., Eds.; LNCS 11771; Springer International Publishing: Cham, Switzerland, 2019. [Google Scholar] [CrossRef]
- Driouich, Y.; Parente, M.; Tronci, E. Model Checking Cyber-Physical Energy Systems. In Proceedings of the International Renewable and Sustainable Energy Conference (IRSEC 2017), Tangier, Morocco, 4–7 December 2017; pp. 1–6. [Google Scholar] [CrossRef]
- Driouich, Y.; Parente, M.; Tronci, E. Modeling cyber-physical systems for automatic verification. In Proceedings of the 14th International Conference on Synthesis, Modeling, Analysis and Simulation Methods and Applications to Circuit Design (SMACD), Giardini Naxos, Italy, 12–15 June 2017; pp. 1–4. [Google Scholar] [CrossRef]
- Ishigooka, T.; Saissi, H.; Piper, T.; Winter, S.; Suri, N. Practical Formal Verification for Model Based Development of Cyber-Physical Systems. In Proceedings of the IEEE Intl Conference on Computational Science and Engineering (CSE) and IEEE Intl Conference on Embedded and Ubiquitous Computing (EUC) and 15th Intl Symposium on Distributed Computing and Applications for Business Engineering (DCABES), Paris, France, 24–26 August 2016; pp. 1–8. [Google Scholar] [CrossRef]
- Zhou, Y.; Gong, X.; Li, B.; Zhu, M. A Framework for CPS Modeling and Verification Based on dL. In Proceedings of the 17th International Conference on Computer and Information Science (IEEE/ACIS 2018), Singapore, 6–8 June 2018; pp. 173–179. [Google Scholar] [CrossRef]
- Cordeiro, L.C.; Filho, E.B.d.L.; Bessa, I.V. Survey on automated symbolic verification and its application for synthesising cyber-physical systems. IET Cyber-Phys. Syst. Theory Appl. 2020, 5, 1–24. [Google Scholar] [CrossRef]
- Zhang, S.; Liu, Y. An automatic approach to model checking UML state machines. In Proceedings of the 4th International Conference on Secure Software Integration and Reliability Improvement Companion, Singapore, 9–11 June 2010; pp. 1–6. [Google Scholar]
- Jussila, T.; Dubrovin, J.; Junttila, T.; Latvala, T.; Porres, I. Model checking dynamic and hierarchical UML state machines. In Proceedings of the 3rd Workshop on Model Design and Validation, Genova, Italy, 2 October 2006. [Google Scholar]
- Niewiadomski, A.; Penczek, W.; Szreter, M. A new approach to model checking of UML state machines. Fundam. Inform. 2009, 93, 289–303. [Google Scholar] [CrossRef]
- Meller, Y.; Grumberg, O.; Yorav, K. Verifying behavioral UML systems via CEGAR. In International Conference on Integrated Formal Methods; Lecture Notes in Computer Science; Springer International Publishing: Cham, Switzerland, 2014; pp. 139–154. [Google Scholar]
- Beato, M.E.; Barrio-Solórzano, M.; Cuesta, C.E.; de la Fuente, P. UML automatic verification tool with formal methods. Electron. Notes Theor. Comput. Sci. 2005, 127, 3–16. [Google Scholar] [CrossRef] [Green Version]
- Choppy, C.; Klai, K.; Zidani, H. Formal verification of UML state diagrams: A Petri net based approach. ACM SIGSOFT Softw. Eng. Notes 2011, 36, 1–8. [Google Scholar] [CrossRef]
- Rodríguez, R.J.; Fredlund, L.-Å.; Herranz, Á.; Mariño, J. Execution and verification of UML state machines with Erlang. In Software Engineering and Formal Methods; Lecture Notes in Computer Science; Springer International Publishing: Cham, Switzerland, 2014; pp. 284–289. [Google Scholar]
- Grobelna, I.; Wiśniewski, R.; Wojnakowski, M. Specification of Cyber-Physical Systems with the Application of Interpreted Nets. In Proceedings of the 45th Annual Conference of the IEEE Industrial Electronics Society, Lisbon, Portugal, 14–17 October 2019; pp. 5887–5891. [Google Scholar] [CrossRef]
- Wisniewski, R.; Grobelna, I. Design of Multi-Context Reconfigurable Logic Controllers Implemented in FPGA Devices Oriented for Further Partial Reconfiguration. J. Circuits Syst. Comput. 2018, 27, 1850086. [Google Scholar] [CrossRef]
- Al-Ali, A.R.; Gupta, R.; Al Nabulsi, A. Cyber physical systems role in manufacturing technologies. AIP Conf. Proc. 2018, 1957, 050007. [Google Scholar] [CrossRef]
- Miśkiewicz, R.; Wolniak, R. Practical Application of the Industry 4.0 Concept in a Steel Company. Sustainability 2020, 12, 5776. [Google Scholar] [CrossRef]
- Sishi, M.; Telukdarie, A. Implementation of Industry 4.0 technologies in the mining industry—A case study. Int. J. Min. Miner. Eng. 2020, 11, 5887–5891. [Google Scholar] [CrossRef]
- Marcon, P.; Arm, J.; Benesl, T.; Zezulka, F.; Diedrich, C.; Schröder, T.; Belyaev, A.; Dohnal, P.; Kriz, T.; Bradac, Z. New Approaches to Implementing the SmartJacket into Industry 4.0. Sensors 2019, 19, 1592. [Google Scholar] [CrossRef] [Green Version]
- Ramadan, M. Industry 4.0: Development of Smart Sunroof Ambient Light Manufacturing System for Automotive Industry. In Proceedings of the Advances in Science and Engineering Technology International Conferences (ASET 2019), Dubai, UAE, 26 March–10 April 2019; pp. 1–5. [Google Scholar] [CrossRef]
- Maskuriy, R.; Selamat, A.; Ali, K.N.; Maresova, P.; Krejcar, O. Industry 4.0 for the Construction Industry—How Ready Is the Industry? Appl. Sci. 2019, 9, 2819. [Google Scholar] [CrossRef] [Green Version]
- Lam, V.S.W.; Padget, J. Symbolic model checking of UML statechart diagrams with an integrated approach. In Proceedings of the 11th IEEE International Conference and Workshop on the Engineering of Computer-Based Systems, Brno, Czech Republic, 27 May 2004; pp. 337–346. [Google Scholar] [CrossRef]
- Zhao, Y.; Yang, Z.; Xie, J. Formal semantics of UML state diagram and automatic verification based on Kripke structure. In Proceedings of the Canadian Conference on Electrical and Computer Engineering, St. John’s, NL, Canada, 3–6 May 2009; pp. 974–978. [Google Scholar] [CrossRef]
- Rashid, M.; Anwar, M.W.; Azam, F.; Kashif, M. Model-based requirements and properties specifications trends for early design verification of embedded systems. In Proceedings of the 11th System of Systems Engineering Conference (SoSE 2016), Kongsberg, Norway, 12–16 June 2016; pp. 1–7. [Google Scholar] [CrossRef]
- Louati, A.; Barkaoui, K.; Jerad, C. Temporal Properties Verification of Real-Time Systems Using UML/MARTE/OCL-RT. In Formalisms for Reuse and Systems Integration; Bouabana-Tebibel, T., Rubin, S., Eds.; Advances in Intelligent Systems and Computing 346; Springer: Cham, Switzerland, 2015. [Google Scholar]
© 2020 by the author. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
Share and Cite
Grobelna, I. Formal Verification of Control Modules in Cyber-Physical Systems. Sensors 2020, 20, 5154. https://doi.org/10.3390/s20185154
Grobelna I. Formal Verification of Control Modules in Cyber-Physical Systems. Sensors. 2020; 20(18):5154. https://doi.org/10.3390/s20185154
Chicago/Turabian StyleGrobelna, Iwona. 2020. "Formal Verification of Control Modules in Cyber-Physical Systems" Sensors 20, no. 18: 5154. https://doi.org/10.3390/s20185154
APA StyleGrobelna, I. (2020). Formal Verification of Control Modules in Cyber-Physical Systems. Sensors, 20(18), 5154. https://doi.org/10.3390/s20185154