SysML-Modelica Transformation Specification (SE DSIG Meeting, Jacksonville, 3/22/2010) Chris Paredis Georgia Tech On behalf of the SysML-Modelica Working Group 1

Presentation Overview Objectives, Focus, Scope What is Modelica? Transformation Roadmap Current Status Details of Specification Implementation: Demo Summary 2 Active Working Group Members Yves Bernard (EADS) Roger Burkhart (Deere & Co) Hans-Peter De Koning (ESA) Sandy Friedenthal (Lockheed Martin) Peter Fritzson (Linköping University) Nerijus Jankevicius (NoMagic) Alek Kerzhner (Georgia Tech) Chris Paredis (Georgia Tech) Axel Reichwein (Georgia Tech) Nicolas Rouquette (JPL) Wladimir Schamai (EADS)

Working Group Focus and Scope Objective: – Leverage the strengths of both SysML and Modelica by integrating them to create a more expressive and formal MBSE language. – Define a formal Transformation Specification: a SysML4Modelica profile and a mapping between Modelica and the profile Scope: – Cover the Modelica constructs needed for the Modelica Standard Library to be used in SysML – Generate corresponding SysML constructs that fit within the profiling mechanism 3

What is Modelica? State-of-the-art Modeling Language for System Dynamics – Differential Algebraic Equations (DAE) – Discrete Events Formal, object-oriented language Ports represent energy flow (undirected) or signal flow (directed) Acausal, equation-based, declarative Multi-domain modeling Standardized by the Modelica Association 4

Modelica: Standard Library 5 motor torque

Other Modelica Libraries Modelica association — 20+ free libs ( EUROSYSLIB project — 20+ libs under development ( 6

Roadmap – Future SysMLSysML-ModelicaModelica December, 2009 Initial Draft of Transformation Specification January 2010 Open Source Reference implementations March June, 2010 Submit RFC proposal, AB Approval March-June June-September 2010 Comment period June September 2010 meeting TF approval September December 2010 meeting Submission for adoption 7

Current Status Draft of Transformation Specification  Part I — Introduction  final editing  Part II — SysML4Modelica profile  final editing  Part III — Modelica meta-model  final editing  Part IV — SysML-Modelica mapping a bidirectional mapping between the SysML4Modelica profile and the Modelica meta-model  ongoing implementation, verification  Annex A – Robotic Sample Problem  to be completed 8

Organization of Transformation 9 SysML-Modelica Transformation follows MDA principles (ormsc/ : MDA Foundation Model - Santa Clara AB initial comments draft

Presentation Overview Objectives, Focus, Scope What is Modelica? Transformation Roadmap Current Status Details of Specification – Classes, Components, Equations, Connections Implementation: Demo Summary 10

Two-Tank Example Maintain levels at 0.25m and 0.4m Source produces 0.02 m 3 /s, increasing to 0.06 m 3 /s at time=150s (From: Peter Fritzson, Principles of Object-Oriented Modeling and Simulation with Modelica 2.1, Wiley-IEEE Computer Society Press, ) 11

Two-Tank Example – Dynamics 12

Modelica Restricted Classes 13

Modelica Restricted Classes 14

Modelica Restricted Classes — SysML4Modelica Stereotypes 15

Modelica Predefined Types 16

Modelica Components = Properties No distinction between types of properties – record, type  «modelicaValueProperty» – connector  «modelicaPort» – model, class, block  «modelicaPart» – function, package  no usage, only definition 17

Modelica Components = Properties 18

Modelica Components = Properties SysML4Modelica Stereotypes 19 Several of these attributes are captured as opaque Modelica expressions

Modelica Components = Properties SysML4Modelica Stereotypes Several of these attributes are captured as opaque Modelica expressions 20

Local Type Modifications 21

Local Type Modifications 22

Modelica Equations/Algorithms Equations – Declarative – Must hold at all times Algorithms – Imperative – Must hold at all times – Execute in zero simulation time 23

Modelica Equations/Algorithms — SysML4Modelica Stereotypes 24

Modelica Connections 25

Modelica Connections Alternative: Leave connect statements in equation section 26

Modelica Connections parameter N is only known at compilation time 27 O-Line

Modelica Simulation May need to specify additional information: – Solver algorithm – Accuracy 28

Tough Issues Typing – Structural vs. nominal typing Local type modifications – Requires reification – Used extensively — no “instances” in Modelica Expressions – Opaque 29

Presentation Overview Objectives, Focus, Scope What is Modelica? Transformation Roadmap Current Status Details of Specification – Classes, Components, Equations, Connections Implementation: Demo Summary 30

Implementation Target 1 31 OpenModelica Compiler MOFLON TGG MOFLON generated Java hand-coded Java MagicDraw

Implementation Target 2 32 OpenModelica Compiler QVT Eclipse hand-coded Java MagicDraw / Papyrus

Implementation 3 33 OpenModelica Compiler Eclipse hand-coded Java Papyrus Acceleo

SysML4Modelica in Context 34 SysML4Modelica Analytical Model SysML Descriptive Model

SysML4Modelica in Context 35 Modelica Model SysML4Modelica Analytical Model SysML Descriptive Model in Analysis Context

Current Status Draft of Transformation Specification  Part I — Introduction  final editing  Part II — SysML4Modelica profile  final editing  Part III — Modelica meta-model  final editing  Part IV — SysML-Modelica mapping a bidirectional mapping between the SysML4Modelica profile and the Modelica meta-model  ongoing implementation, verification  Annex A – Robotic Sample Problem  to be completed 36

Next Steps Complete Reference Implementation – Are the vendors willing to help? Final editing + Robot example – Working session on Thursday 9-5 in City Terrace 9 Review of Spec Document Workflow for how to use SysML4Modelica Submission of RFC – Letters of Intent 37

Discussion? 38