CARES, a framework for CPS simulation : application to autonomous underwater vehicle navigation function

One key objective of Cyber-Physical System (CPS) simulation is to evaluate different CPS configurations regarding a certain user objective. First, simulation of CPS necessitates frameworks to handle heterogeneity of CPS components (the software and hardware system control, the behavior of the CPS itself and its physical environment). Then, to build simulators, designers use paradigms like FMI (Functional Mock-Up Interface) that proposes a data-driven generic interface facilitating the integration of heterogeneous models. However, in order to facilitate simulation configuration, an approach is required to drive modeling of parametric features and operational conditions. In this paper, we present CARES, a component-based and model-driven approach to facilitate CPS simulation. CARES is applied to evaluate an Autonomous Underwater Vehicle (AUV) navigation function by simulation. The proposed models integrate both the principles of a generic simulation (integration of Component Based Software Engineering CBSE concepts and FMI paradigm) and domain specific aspects through a component-based architecture style. From a design model, a code generator builds the structural (Java or C++) code of the simulator. The generated code relies on a given run-time library for its execution and its structure facilitates integration of domain-specific code. The experiments show the effectiveness of the approach to build simulators for evaluation of different AUV configurations.