An event bridge framework for modeling and simulating networked hybrid dynamic behaviors

Typical CPS system composes of large scale of smart physical nodes communicated by kinds of network, while each node shows certain hybrid dynamic behavior. Their dynamic behavior features with networked mix of discrete time-driven cyber behavior and continuous time-driven physical behavior, complicating the modeling and simulating of the entire CPS behavior during the design and analysis. In this paper, an event bridge framework is proposed, extending the composition semantics of the hybrid automata, to capture the communication relationship among CPS nodes as well as the transmission delay properties. First, the event bridge model is given and a rail control system is taken as an example to explain its conciseness; second, a modeling and simulating framework is designed and implemented according to the event bridge model, where the dynamic behavior of each node is required to be modeled as an event-driven state chart; finally, the framework is applied in the rail control system and the lunar rover system, and the results show that it is effective both in networked hybrid physical behaviors and in networked cyber physical behaviors.