Software errors and complexity: an empirical investigation0
Communications of the ACM
Communications of the ACM
An extended systems modeling language (ESML)
ACM SIGSOFT Software Engineering Notes
STATEMATE: A Working Environment for the Development of Complex Reactive Systems
IEEE Transactions on Software Engineering
An object-oriented 3D graphics toolkit
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
SCHEMASIM: a simulation environment for real-time systems
ACM SIGSIM Simulation Digest
Model checking, abstraction, and compositional verification
Model checking, abstraction, and compositional verification
Introduction to simulation and SLAM II (4th ed.)
Introduction to simulation and SLAM II (4th ed.)
Safeware: system safety and computers
Safeware: system safety and computers
PARTS: a temporal logic-based real-time software specification and verification method
Proceedings of the 17th international conference on Software engineering
Executable object modeling with statecharts
Proceedings of the 18th international conference on Software engineering
Validation of hybrid systems by co-simulation
Proceedings of the DIMACS/SYCON workshop on Hybrid systems III : verification and control: verification and control
Improving efficiency of symbolic model checking for state-based system requirements
Proceedings of the 1998 ACM SIGSOFT international symposium on Software testing and analysis
Software—Practice & Experience
The Unified Modeling Language reference manual
The Unified Modeling Language reference manual
Introduction to Simulation Using SIMAN
Introduction to Simulation Using SIMAN
Integrated Design and Simulation of Hybrid Systems
HSCC '98 Proceedings of the First International Workshop on Hybrid Systems: Computation and Control
Verification Tools for Finite-State Concurrent Systems
A Decade of Concurrency, Reflections and Perspectives, REX School/Symposium
Structured Analysis and System Specification
Structured Analysis and System Specification
Re-engineering software architecture of home service robots: a case study
Proceedings of the 27th international conference on Software engineering
Proceedings of the 28th international conference on Software engineering
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Most real-time embedded control software feature complex interactions with asynchronous inputs and environment objects, and a meaningful simulation of a real-time control software specification requires realistic simulation of its environment. Two problems that need to be addressed in the simulation of a target software system and its environment: First, integration and simulation of the specifications of a target software system and its artificial environment are often performed too late in the lifecycle to provide any significant value. Second, real world objects in the environment usually have spatial characteristics (form) such as shape, motion, etc. that must be specified for simulation, and there is no method to express these spatial characteristics at various levels of abstraction that are adequate for the required simulation fidelity.To address these problems, we have developed a method that supports incremental specification and simulation of both the target software system and its environmental objects. The method includes: (1) a specification method for behavior, function, and form integrated objects; (2) form specification primitives that abstract common spatial characteristics of real world objects, their typical spatial relations, and spatial interactions; and (3) a methodology that refines, verifies, and validates behavior, function, and form specification of both the real-time embedded control software and its environment in a systematic and incremental manner. The proposed specification, verification, and validation method has been applied to a robot control system example to demonstrate its effectiveness and usefulness.