Ken Pierce’s research while affiliated with University of Newcastle Australia and other places

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Publications (31)


Conceptual model of timetabling.
Modeling process.
Modeled area of Merseyrail network.
Initial architecture of the Newcastle model expressed as a class diagram, where 1..* denotes a ‘one-to-many’ relationship. Thus, the Movement Authority handles multiple Drivers and multiple Trains.
Finite state machine describing the modal behavior of a driver.

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Applying Collaborative Co-Simulation to Railway Traction Energy Consumption
  • Article
  • Full-text available

April 2025

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11 Reads

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Ken Pierce

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Xiao Liu

Simulation is a vital tool for understanding rail traction energy consumption. Simulating such energy consumption requires an understanding of the interactions between timetable, infrastructure, and driver behavior to be encapsulated within a multi-train system model. This is critical to simulating systemic interactions that affect energy consumption on a rail network. However, building and executing such a system simulation is challenging because of diverse models, stakeholders, and knowledge, as well as a lack of tools to support flexible and scalable simulation. This paper presents a demonstration of co-simulation—an approach originating in the automotive industry and now being used in other sectors—that enables a system model to be assessed for different configurations of timetable, rolling stock, infrastructure, and driver behavior. This paper describes the co-simulation approach before outlining the development process that allowed three research institutes, each with diverse models, to collaborate and deliver an integrated, holistic modeling approach. The results of this work are presented and discussed, both in terms of the quantified outputs and findings for energy consumption, and the lessons learned through collaborative co-simulation. Future avenues to build on this work are identified.

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Proceedings of the 22nd International Overture Workshop

September 2024

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9 Reads

This volume contains the papers presented at the 22nd International Overture Workshop, held on the 10th of September 2024. This event was the latest in a series of workshops around the Vienna Development Method (VDM), the open-source project Overture, and related tools and formalisms. VDM is one of the longest established formal methods for systems development. A lively community of researchers and practitioners has grown up in academia and industry has grown around the modelling languages (VDM-SL, VDM++, VDM-RT, CML) and tools (VDMTools, Overture, Crescendo, Symphony, the INTO-CPS chain, and ViennaTalk). Together, these provide a platform for work on modelling and analysis technology that includes static and dynamic analysis, test generation, execution support, and model checking. This workshop provided updates on the emerging technology of VDM/Overture, including collaboration infrastructure, collaborative modelling and co-simulation for Cyber-Physical Systems.


Fig. 1: QuickCheck nds counterexamples to some proof obligations. are an innite number of members) with specic test values, and secondly how to choose bind values that are likely to uncover counterexamples. In a normal expression evaluation, type binds of nite types (like forall x : bool & ...) can be evaluated, as long as the population of the type is less than some congurable limit. However, if a type bind is of an innite type (like forall x : nat & ...), the evaluation cannot proceed and an exception is raised. Innite types are more common than nite types, so it is not reasonable to limit QuickCheck to only work with nite types. To solve this, the VDMJ interpreter has been instrumented with an interface that allows a specic set of type bind values to be provided. The values are necessarily a subset of the values of the type, and therefore the evaluation of the expression that contains them must be used with care. However, in the limited context of a PO evaluation within QuickCheck, this instrumentation allows specic bind values to be tested.
Fig. 2: QuickCheck in the VDM VSCode Extension.
Verification Technology for VDM: Craft and Automation

September 2024

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52 Reads

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1 Citation

Pioneering work in model-oriented specification showed that properties of software could be confirmed or refuted from the early stages of development and be verifiably preserved through design to implementation. As verification technology has evolved, research and innovation have had to balance the insight generated by hand-crafted proof with the benefits of automation. In this paper, we describe QuickCheck, an ‘as-you-specify’ checker for proof obligations in the Vienna Development Method (VDM) Specification Language. Using a classical example of model-oriented specification in VDM, we demonstrate the value of such automated checking of basic proof obligations as a precursor to full machine-assisted proof using the Isabelle theorem prover.


Digital Twin Engineering Processes

August 2024

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2 Reads

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1 Citation

We outline the technical processes defined in the systems engineering standard ISO/IEC/IEEE 15288, considering how each of them plays out when engineering a system enabled by a Digital Twin (DT).We consider how these processes, and the teams working on them, might be tailored to the challenges of engineering DTs, including the roles and competencies needed. A DT-enabled tempeh incubator system is used as a running example.




Proceedings of the 20th International Overture Workshop

August 2022

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22 Reads

This volume contains the papers presented at the 20th International Overture Workshop, which was held in an hybrid format: online and physically at Aarhus, Denmark on 05th July 2022. This event was the latest in a series of workshops around the Vienna Development Method (VDM), the open-source project Overture, and related tools and formalisms. VDM is one of the longest established formal methods for systems development. A lively community of researchers and practitioners has grown up in academia and industry around the modelling languages (VDM-SL, VDM++, VDM-RT, CML) and tools (VDMTools, Overture, VDM VSCode extension, Crescendo, Symphony, the INTO-CPS chain, and ViennaTalk). Together, these provide a platform for work on modelling and analysis technology that includes static and dynamic analysis, test generation, execution support, and model checking. This workshop provided updates on the emerging technology of VDM/Overture, including collaboration infrastructure, collaborative modelling and co-simulation for Cyber-Physical Systems.


Proceedings of the 19th International Overture Workshop

October 2021

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13 Reads

This volume contains the papers presented at the 19th International Overture Workshop, which was held in an hybrid format: online and physically at Aarhus, Denmark on 22th October 2021. This event was the latest in a series of workshops around the Vienna Development Method (VDM), the open-source project Overture, and related tools and formalisms. VDM is one of the longest established formal methods for systems development. A lively community of researchers and practitioners has grown up in academia and industry around the modelling languages (VDM-SL, VDM++, VDM-RT, CML) and tools (VDMTools, Overture, VDM VSCode extension, Crescendo, Symphony, the INTO-CPS chain, and ViennaTalk). Together, these provide a platform for work on modelling and analysis technology that includes static and dynamic analysis, test generation, execution support, and model checking. This workshop provided updates on the emerging technology of VDM/Overture, including collaboration infrastructure, collaborative modelling and co-simulation for Cyber-Physical Systems.


A feasibility assessment of multi- modelling approaches for rail decarbonisation systems simulation

July 2021

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222 Reads

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6 Citations

Proceedings of the Institution of Mechanical Engineers Part F Journal of Rail and Rapid Transit

Simulation is an important tool to support rail decarbonisation but can be challenging due to heterogeneous models, simulation tools and skill sets, and concerns around intellectual property. Multi-modelling, a proven methodology in sectors such as aerospace and automotive, uses Functional Mock-up Interface (FMI) and co-simulation to potentially overcome these problems. This paper presents a feasibility study of multi-modelling for rail decarbonisation, using a combination of audit of current state of the art, technical implementation and stakeholder consultation. The audit showed that while current uptake of FMI in rail is low, there is potential to repurpose models from pre-existing tools and apply them within multi-modelling. The technical feasibility assessment demonstrated how multi-modelling could generate flexible simulation outputs to identify decarbonisation systems effects both for urban and mainline rail, including rapid integration of pre-existing MATLAB Simulink models. Work with industry stakeholders identified use cases where multi-modelling would benefit rail decarbonisation, as well as barriers and enablers to adoption. Overall, the study demonstrates the feasibility and considerations for multi-modelling to support rail decarbonisation efforts, and the future developments necessary for wider rollout.


Citations (21)


... Work on hybrid systems has the potential to provide an underlying semantic framework for co-simulation (Henzinger, 1996;Tudoret, Nadjm-Tehrani, Benveniste, & Strömberg, 2000;Lee and Zheng, 2005). The Ptolemy framework introduced in Section 2.1 above addresses heterogeneous modelling Lee and Zheng, 2007;Lee and Seshia, 2011), and has been compared with our work in Wolff, Pierce and Derler (2013). ModHel'X vii is inspired by Ptolemy, but with component interface specification reminiscent of our approach. ...

Reference:

Collaborative development of dependable cyber- physical systems by co- modeling and co-simulation
Multi-domain Modelling in DESTECS and Ptolemy - a Tool Comparison
  • Citing Article
  • June 2013

... Subsequently, Golightly et al. [9] demonstrated the influence of driver behaviors in a simple metro co-simulation. Pierce et al. [41] demonstrated the impact of different driver models in a three-train mainline model, but this used a simple rolling stock model, and the sequencing of trains was only described as a set headway (e.g., 2 min headway between trains) rather than a full timetable. Therefore, there is an opportunity to demonstrate the role of human performance modeling in more complex, multi-stakeholder co-simulations with accurate train and timetable models. ...

Using co-simulation and Time Signal at Red (TSAR) to Determine Impact of Driver Behavior on Rail Network Performance
  • Citing Conference Paper
  • May 2024

... This collaborative process may be repeated until the desired behavior of the system is reached, either in the beginning when the low-fidelity models are produced using a single formalism [34,35], or afterward when high-fidelity models are created using appropriate tools and formalisms for each part of the Cyber-Physical Production System [36]. The co-simulations can be executed on individual software such as INTO-CPS (https://into-cps.org/) or platform (https://hubcap-portal.eng.it/welcome/). ...

Multi-paradigm modelling and co-simulation in prototyping a cyber-physical production system
  • Citing Chapter
  • January 2021

... Simulation tools such as Vision OSLO are used to facilitate train power modeling. Vision OSLO enables detailed analysis of power consumption under various operational conditions, offering insights into the most energy-efficient practices [9]. Another pivotal tool, RailSys, is employed for comprehensive operational planning. ...

A feasibility assessment of multi- modelling approaches for rail decarbonisation systems simulation

Proceedings of the Institution of Mechanical Engineers Part F Journal of Rail and Rapid Transit

... The OBC SendPosIXL automaton The physical behaviour of the tram acceleration and deceleration has been abstracted away mainly because there were no requirements on this aspect. Recall that the driving responsibility is left to the (human) driver and it is not automatic, although some work on modelling train driver behaviour exists [HEPGP21]. OBC Mitigation this automaton is depicted in Figure 13 and is similar to OCC Mitigation. Its initial state is NormalOperation. ...

Modelling Train Driver Behaviour in Railway Co-simulations
  • Citing Chapter
  • January 2021

Lecture Notes in Computer Science

... They also highlighted the potential of FMI in enabling collaborative and scalable simulation of the systems, which is crucial for ensuring their reliability and safety in operations. (Hotzel Escardo et al. 2021) designed and developed a train driver behaviour model for railway co-simulations, demonstrating how train driver behavior models can be seamlessly integrated with other simulation components, such as infrastructure and rolling stock models by utilizing FMI. This approach allows for comprehensive simulations that capture the interactions between different elements of railway systems, ultimately enhancing the understanding of system dynamics, supporting decision-making processes in railway operations, and planning. ...

Modelling Train Driver Behaviour in Railway Co-simulations
  • Citing Conference Paper
  • September 2020

... This allows for the inclusion of so-called black-box systems into the simulation approach, which is particularly useful for simulation across multiple levels of abstraction and detail (Roth and Burns 2018). Moreover, this distribution to multiple sub-simulation systems allows for an easier inclusion of humans and human decision making directly into the simulation model (Palmieri, Bernardeschi, and Masci 2018;Pierce et al. 2020). Due to these characteristics, it can be found especially in applied research on CPS (Fitzgerald, Gorm Larsen, and Pierce 2019). ...

Exploring Human Behaviour in Cyber-Physical Systems with Multi-modelling and Co-simulation
  • Citing Chapter
  • August 2020

Lecture Notes in Computer Science

... This was developed as a high-fidelity model where each submodel was created independently and can be easily swapped for another of the same type, similar to functional mock-up units (FMUs). [29][30][31] The components are discussed in more detail below. This is based upon the Hitachi AT300 product family (Class 800, 801 and 802, here denoted as 80x) of trains currently being introduced onto the UK rail network. ...

Human performance modelling within rail decarbonisation simulation

... However, the preceding simulation work is standalone and lacks the flexibility for integration into wider, flexible system modeling. Golightly et al. [40] demonstrated the potential for non-rail human performance modeling in FMU and co-simulation. Subsequently, Golightly et al. [9] demonstrated the influence of driver behaviors in a simple metro co-simulation. ...

Applying ergonomics within the multi- modelling paradigm with an example from multiple UAV control
  • Citing Article
  • January 2020

... Some studies that use co-simulation for DTs include Havard et al. [41], who proposed an architecture for cosimulation and communication between DT and virtual reality software, with a case study of a robotic arm; and Fitzgerald et al. [42], who implemented multi-modeling and co-simulation for the design of cyber-physical systems and their further integration with DTs capable of performing online and offline decision-making, with a case study of a line-following robot. The latter study uses the INTO-CPS application as the co-simulation orchestration environment. ...

Multi-modelling and Co-simulation in the Engineering of Cyber-Physical Systems: Towards the Digital Twin
  • Citing Chapter
  • October 2019

Lecture Notes in Computer Science