Projektgruppe Cybertron

Developing high-confidential cyber-physical systems

Nowadays, software is the driving force for innovations in cyber-physical systems (e.g., cars, plains, and manufacturing plants). It realizes the complex information processing and interacts with sensors and actors under real-time requirements in a safety-critical environment. Cyber-physical systems reconfigure the structure of their software and hardware architecture, e.g., to avoid hazardous situations or to optimize operational conditions like minimizing their energy consumption.  Furthermore, the ongoing trend is that autonomous systems have to cooperate with each other to achieve common goals like forming a platoon. Thus, the growing amount of software can no longer be realized by just programming and testing. Instead, a seamless model-driven approach needs to be applied. The approach leads from abstract models to generated and deployed software artifacts. Further, it integrates formal verification techniques to guarantee the safety of the system and to provide a high confidence. We address this pressing need by developing the MechatronicUML method and the MechatronicUML Tool Suite. MechatronicUML provides a domain-specific modeling language and a well-defined process for developing the software of cyber-physical systems. TheMechatronicUML Tool Suite is a graphical Eclipse-based editor that enables our MechatronicUML method. 

In the course of the project group, we aimed at developing appropriate methods, tools, and realistic examples. Our goal was to enhance the confidence in the software of adaptive cyber-physical systems. Therefore, our tasks were to improve the timed model checking approach for MechatronicUML models, to extend the code generation, and to enhance the deployment analysis so that it considers real-time requirements. We integrated our concepts into the well-established tool suite. Finally, we evaluated our concepts by using programmable LEGO Mindstorms as a testing platform.

Project Group Members

The following people participated in the project group:

Students: Jan Bobolz, Mike Czech, Andreas Dann, Johannes Geismann, Marcus Hüwe, Arthur Krieger, Goran Piskachev, David Schubert, and Rebekka Wohlrab

Supervisors: Prof. Dr. Wilhelm Schäfer, Stefan Dziwok, and Uwe Pohlmann


In the course of the project group, we wrote several documents, for example, a requirements specification and a final documentation. In addition to that, we developed various eclipse plugins, which are bundled into our own eclipse distribution (a ready-to-use eclipse with all of our developed plugins installed).


  • The requirements specification summarizes the current state of MechatronicUML, details the planned extensions and improvements, and defines a GQM and project plan.
  • The final documentation provides information about the conceptual results of our project group, including an evaluation of these results and experiences concerning our development process.
  • The final presentation slides (ppsx) are meant to give a rough overview about the problem domain, the developed concepts, and the achieved goals.
  • The user guide demonstrates how our developed concepts and eclipse plugins facilitate the development of the autonomous cooperating overtaking maneuver of two Lego Mindstorms.


We bundled our developed plugins into an eclipse distribution, which is a ready-to-use eclipse with all of our developed plugins installed. We provide the following eclipse distributions:

  • eclipse x86_64 linux (coming soon)
  • eclipse x86_64 windows (coming soon)
  • eclipse x86_64 mac? (coming soon)

In order to run our plugins, download the preferred eclipse distribution, unzip it, and start the eclipse binary. In case of problems, file a bug at our bug tracker.
Despite the end of the project group, we have an ongoing development of our plugins. The development/experimental versions of our plugins are provided via an eclipse update site, which is automatically generated by our continuous integration system.

Seminar theses:

At the beginning of our project group, each of us had to write a seminar thesis, in order to identify the current state of MechatronicUML, and potential improvements and extensions. The result of this phase are the following seminar theses:

  • Concerns, Views, Viewpoints, and Stakeholders in the Holistic Mechatronic UML Process
  • Finding a Verification Property Language for MechatronicUML: Reusable Approaches and Concepts
  • From Coordination Protocols to Timed Automata
  • Uppaal — The Model Checker Used by MechatronicUML
  • Requirements and Limitations of the Back-Translation Phase of the Uppaal-based MechatronicUML Model Checking
  • Towards Allocation Story Modeling
  • Integer Linear Programming for Solving the Allocation Problem
  • Safe Deployment — Scheduling and Analysis for Embedded Systems
  • Evaluating MechatronicUML using the GQM Method

Project Group Kickoff

Slides of the Talk (PDF) (introductory slides)

Project Group Seminar Schedule (PDF)

Links & Related Work


Lego Mindstorms