Modeling Electromechanical Aspects of Cyber-Physical Systems

Model-based tools have the potential to significantly improve theprocess of developing novel cyber-physical systems. In this paper, weconsider the question of what language features are needed to modelcyber-physical systems. Using a small, experimental hybrid systemsmodeling language to show how a number of basic and pervasive aspectsof cyber-physical systems can be modeled clearly using the small setof constructs that it provides. We then consider two, more complex,case studies from the domain of robotics. The first one, a quadcopter,illustrates that previously proposed core language can support larger,more interesting systems. The second one, a serial robot, provides aconcrete example of why it is important to support static partialderivatives, namely, that it significantly improves the way models ofrigid body dynamics can be expressed.

基于模型的工具具有显著改进新型信息物理系统开发过程的潜力。在本文中，我们考虑对信息物理系统进行建模需要哪些语言特性这一问题。使用一种小型的实验性混合系统建模语言，展示如何利用它所提供的少量结构清晰地对信息物理系统的许多基本且普遍的方面进行建模。然后，我们考虑来自机器人领域的两个更复杂的案例研究。第一个是四轴飞行器，它表明先前提出的核心语言能够支持更大、更有趣的系统。第二个是串联机器人，它提供了一个具体的例子，说明为什么支持静态偏导数很重要，即它显著改进了刚体动力学模型的表达方式。