You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact

Modeling and Timing Analysis of Industrial Component-Based Distributed Real-time Embedded Systems



Publication Type:

Licentiate Thesis


Mälardalen University, Västerås, Sweden



The model- and component-based development approach has emerged as an attractive option for the development of Distributed Real-time Embedded (DRE) systems. Within this context we target issues related to modeling of legacy communication, extraction of end-to-end timing models and support for holistic response-time analysis of industrial DRE control systems.We introduce a new approach for modeling legacy network communication in component-based DRE systems. By introducing special-purpose components to encapsulate and abstract the communication protocols in DRE systems, we allow the use of legacy nodes and legacy protocols in a component- and model-based software engineering environment. The proposed approach also supports the state-of-the-practice development of component-based DRE systems. Because an end-to-end timing model should be available to perform the holistic response-time analysis, we present a method to extract the end-to-end timing models from component-based DRE systems.The Controller Area Network (CAN) is one of the widely used real-time networks in DRE systems especially in automotive domain. We identify that the existing analysis of CAN does not support common message transmission patterns which are implemented by some high-level protocols used in the industry. Consequently, we extend the existing analysis to facilitate the worst-case response-time calculation of these transmission patterns. The extended analysis is generally applicable to any high-level protocol for CAN that uses periodic, sporadic, and both periodic and sporadic transmission of messages.In order to show the applicability of our modeling techniques and extended analysis, we provide a proof of concept by extending the existing industrial component model (Rubus Component Model), implementing the holistic response-time analysis along with the extended analysis of CAN in the industrial tool suite (Rubus-ICE), and conducting an automotive-application case study.


author = {Saad Mubeen},
title = {Modeling and Timing Analysis of Industrial Component-Based Distributed Real-time Embedded Systems},
number = {146},
month = {January},
year = {2012},
publisher = {M{\"a}lardalen University, V{\"a}ster{\aa}s, Sweden},
url = {}