In cyber-physical systems like automotive systems, there are components like sensors, actuators, and controllers that communicate asynchronously with each other. The computational model of actors supports modeling distributed asynchronously communicating systems. We propose the Hybrid Rebeca language to support the modeling of cyber-physical systems. Hybrid Rebeca is an extension of the actor-based language Rebeca. In this extension, physical actors are introduced as new computational entities to encapsulate physical behaviors. To support various means of communication among the entities, the network is explicitly modeled as a separate entity from actors. We develop a tool to derive hybrid automata as the basis for the analysis of Hybrid Rebeca models. We demonstrate the applicability of our approach through a case study in the domain of automotive systems. We use the SpaceEx framework for reachability analysis of the case study. Compared to hybrid automata, our results show that for event-based asynchronous models hybrid Rebeca improves analyzability by reducing the number of real variables, and increases modularity and hence, minimizes the number of changes caused by a modification in the model.

在诸如汽车系统之类的网络物理系统中，存在诸如传感器，致动器和控制器之类的组件，它们彼此之间进行异步通信。参与者的计算模型支持对分布式异步通信系统进行建模。我们提出了混合Rebeca语言来支持网络物理系统的建模。Hybrid Rebeca是基于演员的语言Rebeca的扩展。在此扩展中，物理参与者被引入为新的计算实体，以封装物理行为。为了支持实体之间的各种通信方式，将网络明确建模为与参与者分开的实体。我们开发了一种工具，可以得出混合自动机，作为分析混合Rebeca模型的基础。我们通过在汽车系统领域的案例研究证明了我们方法的适用性。我们使用SpaceEx框架进行案例研究的可达性分析。与混合自动机相比，我们的结果表明，对于基于事件的异步模型，混合Rebeca通过减少实际变量的数量来提高可分析性，并增加了模块化，因此，将由模型修改引起的更改数量最小化。