一种基于SysML的语言，用于评估信息物理系统仿真与物理实体的完整性
A SysML-based language for evaluating the integrity of simulation and physical embodiments of Cyber-Physical systems
AI总结：
本文提出基于SysML的SPSysML语言及SPSysAP应用流程，通过定量因素和需求驱动方法评估信息物理系统中仿真与物理部件的完整性，提升组件可重用性，并在辅助生活机器人系统上验证了其有效性。
摘要：
评估早期设计概念至关重要，因为它影响质量和成本。这一过程常常受到模糊和不确定的设计信息的阻碍。本文介绍了基于SysML的仿真-物理系统建模语言（SPSysML）。它是一种领域规范语言，用于评估信息物理系统中结合数字孪生和其他仿真部件的组件可重用性。所提出的因素对设计进行定量评估。SPSysML使用基于需求的系统结构化方法，将仿真部件和物理部件与需求耦合。基于SPSysML的系统包含在仿真世界中感知外部动作的数字孪生。SPSysML的验证基于调查和应用。首先，我们为一个辅助生活项目开发了一个机器人系统。我们提出了一种称为SPSysAP的SPSysML应用流程，通过使用所提出的定量因素评估系统设计来管理所考虑的系统开发。作为SPSysML应用的结果，我们观察到系统仿真部件与物理部件之间的完整性得到改善。因此，仿真设置和物理设置之间共享了更多的系统组件。该系统部署在物理机器人以及基于ROS和ROS2的两个仿真器上。此外，我们分享了一份用于SPSysML评估的问卷。我们已经收到的反馈在本文中发布。
英文摘要：
Evaluating early design concepts is crucial as it impacts quality and cost. This process is often hindered by vague and uncertain design information. This article introduces the SysML-based Simulated-Physical Systems Modelling Language (SPSysML). It is a Domain-Specification Language for evaluating component reusability in Cyber-Physical Systems incorporating Digital Twins and other simulated parts. The proposed factors assess the design quantitatively. SPSysML uses a requirement-based system structuring method to couple simulated and physical parts with requirements. SPSysML-based systems incorporate DTs that perceive exogenous actions in the simulated world. SPSysML validation is survey- and application-based. First, we develop a robotic system for an assisted living project. We propose an SPSysML application procedure called SPSysAP that manages the considered system development by evaluating the system designs with the proposed quantitative factors. As a result of the SPSysML application, we observed an integrity improvement between the simulated and physical parts of the system. Thus, more system components are shared between the simulated and physical setups. The system was deployed on the physical robot and two simulators based on ROS and ROS2. Additionally, we share a questionnaire for SPSysML assessment. The feedback that we already received is published in this article.
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