M.: A catalog for Real-Time Coordination Patterns of advanced mechatronic systems

Abstract. Innovation in today’s mechanical systems is often only pos-sible due to the embedded software. Particularly, the software connects previously isolated systems resulting in, so-called, advanced mechatronic systems. Mechatronic systems are often employed in a safety-critical con-text, where hazards that are caused by faults in the software have to be prevented. Preferably, this is achieved by already avoiding these faults during development. A major source of faults is the complex coordi-nation between the connected mechatronic systems. In this paper, we present Real-Time Coordination Patterns for advanced mechatronic sys-tems. These patterns formalize proven communication protocols for the coordination between mechatronic systems as reusable entities. Further-more, our approach exploits the patterns in the decomposition of the system to enable a scalable formal verification for the detection of faults. We illustrate the patterns with examples from different case studies