A Practical Guide to SysML

The Systems Modeling Language

Sanford Friedenthal

Alan Moore

Rick Steiner

BOSTON HEIDELBERG LONDON

m
AMSTERDAM . . .

NEW YORK • OXFORD • PARIS > SAN DIEGO

TOKYO
SAN FRANCISCO . SINGAPORE . SYDNEY «
M<
ELSEVIER Morgan Kaufmann Publishers is an imprint of Elsevier
Contents

Preface xvii

Acknowledgments xxi

About the Authors xxiii

PART I INTRODUCTION

CHAPTER 1 Systems Engineering Overview 3

1.1 Motivation for Systems Engineering 3

1.2 The Systems Engineering Process 4

1.3 of the
Systems Engineering Process 5
Typical Application
1.4 Multidisciplinary Systems Engineering Team 9

1.5 Codifying Systems Engineering Practice through Standards 10

1.6 Summary 13

1.7 Questions 14

CHAPTER 2 Model-Based Systems Engineering 15

2.1 the Document-Based and Model-Based Approach 15

Contrasting
15
Systems Engineering Approach
2.1.1 Document-Based
2.1.2 Model-Based Systems Engineering Approach 16

2.2 Modeling Principles 21

2.2.1 Model and MBSE Method Definition 21

21
2.2.2 The Purpose for Modeling a System
22
2.2.3 Establishing Criteria to Meet the Model Purpose
25
2.2.4 Model-Based Metrics
26
2.2.5 Other Model-Based Metrics
27
2.3 Summary
27
2.4 Questions

29
CHAPTER 3 Getting Started with SysML
29
3.1 SysML Purpose and Key Features
29
3.2 SysML Diagram Overview
31
3.3 Introducing SysML-Lite
31
3.3.1 SysML-Lite Diagrams and Language Features
34
3.3.2 SysML-Lite Air Compressor Example
38
3.3.3 SysML Modeling Tool Tips
44
3.4 A Simplified MBSE Method
47
3.5 The Learning Curve for SysML and MBSE
48
3.6 Summary
48
3.7 Questions
CHAPTER 4 An Automobile Example Using the SysML Basic Feature Set 51
4.1 SysML Basic Feature Set 51

4.2 Automobile Example Overview 51

4.2.1 Problem Summary 52

4.3 Automobile Model 52

4.3.1 Package Diagram for Organizing the Model 53

4.3.2 Capturing the Automobile Specification in a Requirement Diagram 55

4.3.3 Denning the Vehicle and Its External Environment Using a Block
Definition Diagram 57

4.3.4 Use Case Diagram for Operate Vehicle 58

4.3.5 Representing Drive Vehicle Behavior with a Sequence Diagram 60

4.3.6 Referenced Sequence Diagram to Turn On Vehicle 60

4.3.7 Control Power Activity Diagram 62
4.3.8 State Machine Diagram for Drive Vehicle States 64
4.3.9 Vehicle Context Using an Internal Block Diagram 64
4.3.10 Vehicle Hierarchy Represented on a Block Definition Diagram 67
4.3.11 Activity Diagram for Provide Power 69

4.3.12 Internal Block Diagram for the Power Subsystem 69

4.3.13 Denning the Equations to Analyze Vehicle Performance 73

4.3.14 Analyzing Vehicle Acceleration Using the Parametric Diagram 75

4.3.15 Analysis Results from Analyzing Vehicle Acceleration 75

4.3.16 Defining the Vehicle Controller Actions to Optimize Engine

Performance 77

4.3.17 Specifying the Vehicle and Its Components 78

4.3.18 Requirements Traceability 79

4.3.19 View and Viewpoint 81

4.4 Model Interchange 82

4.5 Summary 82

4.6 Questions 83

PART II LANGUAGE DESCRIPTION

CHAPTER 5 SysML Language Architecture 87

5.1 The OMG SysML Language Specification 87

5.2 The Architecture of the
SysML Language 88
5.2.1 The General-Purpose Systems Modeling Domain 89
5.2.2 The Modeling Language (or Metamodel) 90
5.2.3 The System Model (or User Model) 91
5.2.4 Model Interchange 92

5.3 SysML Diagrams 93

5.3.1 Diagram Frames 94
5.3.2 Diagram Header 95
 96
5.3.3 Diagram Description
5.3.4 Diagram Content 96

5.3.5 Additional Notations 99

5.4 The Surveillance System Case Study 100

5.4.1 Case Overview 100

Study
5.4.2 Modeling Conventions 100

5.5 Organization of Part II 101

5.5.1 OCSMP Certification Coverage and SysML 1.3 101

5.6 102
Questions

the Model with 103

CHAPTER 6 Organizing Packages
6.1 Overview 103
6.2 The 104
Package Diagram
6.3 Defining Packages Using a Package Diagram 104

6.4 Organizing a Package Hierarchy 106

6.5 Showing Packageable Elements on a Package Diagram 107

6.6 109
Packages as Namespaces
6.7 Importing Model Elements into Packages 109
6.8 Showing Dependencies between Packageable Elements 112

6.9 Specifying Views and Viewpoints 114

6.10 Summary 115

6.11 Questions 116

119
CHAPTER 7 Modeling Structure with Blocks
7.1 Overview 119
120
7.1.1 Block Definition Diagram
7.1.2 Internal Block Diagram 121

7.2 Modeling Blocks on a Block Definition Diagram 121

7.3 Modeling the Structure and Characteristics of Blocks Using Properties 123

7.3.1 Modeling Block Composition Hierarchies Using Part Properties 123

7.3.2 Modeling Relationships between Blocks Using Reference Properties 130

7.3.3 Using Associations to Type Connectors between Parts 132

of Blocks Using Value

7.3.4 Modeling Quantifiable Characteristics
137
Properties
7.4 142
Modeling Flows
7.4.1 Modeling Items That Flow 143

7.4.2 Flow 143

Properties
7.4.3 Modeling Flows between Parts on an Internal Block Diagram 144

7.5 Modeling Block Behavior 147

7.5.1 Modeling the Main Behavior of a Block 148

of Blocks 148
7.5.2 Specifying the Behavioral Features
7.5.3 Modeling Block-Defined Methods 150
151
7.5.4 Routing Requests Across Connectors
 7.6 Interfaces Using Ports 152
Modeling
7.6.1 Full Ports 153

7.6.2 Ports 154

Proxy
Ports 157
7.6.3 Connecting
between Ports 165
7.6.4 Modeling Flows
165
Using Interfaces with Ports
7.6.5
7.7 Modeling Classification Hierarchies Using Generalization 167

7.7.1 Classification and the Structural Features of a Block 169

7.7.2 Classification and Behavioral Features 170

Classifications Using Generalization Sets 171

7.7.3 Modeling Overlapping
172
7.7.4 Modeling Variants Using Classification
Block
7.7.5 Using Property-Specific Types to Model Context-Specific
Characteristics 173

Specialized Blocks 173

7.7.6Modeling Configurations
Block as

Instances 176
7.8 Modeling Block Configurations Using
7.9 178
Deprecated Features
7.9.1 Flow Ports 179
7.10 180
Summary
7.11 182
Questions

CHAPTER 8 Modeling Constraints with Parametrics 185

8.1 Overview 185
8.1.1 Defining Constraints Using the Block Definition Diagram 185
8.1.2 The Parametric Diagram 186
8.2 Using Constraint Expressions to Represent System Constraints 187

8.3 Encapsulating Constraints in Constraint Blocks to Enable Reuse 188

8.3.1 Additional Parameter Characteristics 188

8.4 Using Composition to Build

Complex Constraint Blocks 190

8.5 Using a Parametric Diagram to Bind Parameters of Constraint Blocks 191

8.6 Constraining Value Properties of a Block 193

8.7 Capturing Values in Block Configurations 195

8.8 Constraining Time-Dependent Properties to Facilitate Time-Based Analysis 195

8.9 Using Constraint Blocks to Constrain Item Flows 197

8.10 Describing an Analysis Context 198

8.11 Modeling Evaluation of Alternatives and Trade Studies 200

8.12 Summary 202

8.13 Questions 203

CHAPTER 9 Modeling Flow-Based Behavior with Activities 205

9.1 Overview 205

9.2 The Activity Diagram 206

9.3 Actions—The Foundation of Activities 208
9.4 The Basics of Modeling Activities 209
 9.4.1 Specifying Input and Output Parameters for an Activity 209
9.4.2 Composing Activities Using Call Behavior Actions 211

9.5 Using Object Flows to Describe the Flow of Items between Actions 213

9.5.1 Routing Object Flows 213

9.5.2 Routing Object Flows from Parameter Sets 216

9.5.3 Buffers and Data Stores 219

9.6 Using Control Flows to Specify the Order of Action Execution 220

Depicting Control Logic with Control Nodes

9.6.1 220

9.6.2 Using Control Operators to Enable and Disable Actions 222

9.7 Handling Signals and Other Events 224

9.8 Structuring Activities 225

9.8.1 Interruptible Regions 225

9.8.2 Using Structured Activity Nodes 226

9.9 Advanced Flow Modeling 228

9.9.1 Modeling Flow Rates 228

9.9.2 Modeling Flow Order 229

9.9.3 Modeling Probabilistic Flow 230

9.10 Modeling Constraints on Activity Execution 231

9.10.1 Modeling Pre- and Post-conditions and Input and Output States 231

9.10.2 Constraints to Actions 233

Adding Timing
234
9.11 Relating Activities to Blocks and Other Behaviors
9.11.1 Linking Behavior to Structure Using Partitions 234

Activity in Block Context 236

Specifying
9.11.2 an a

239
Relationship between Activities and Other Behaviors
9.11.3
9.12 Modeling Activity Hierarchies Using Block Definition Diagrams 240

9.12.1 Modeling Activity Invocation Using Composite Associations 240

9.12.2 Modeling Parameter and Other Object Nodes Using Associations 240

9.12.3 Adding Parametric Constraints to Activities 242

9.13 Enhanced Functional Flow Block Diagram 243

243
9.14 Executing Activities
9.14.1 The Foundational UML Subset (fUML) 244

9.14.2 The Action for Foundational UML (All) 245

Language
9.14.3 Primitive Actions 246

9.14.4 Executing Continuous Activities 247

9.15 248
Summary
9.16 Questions 249

CHAPTER 10 Modeling Message-Based Behavior with Interactions 251

10.1 Overview 251

10.2 The 252

Sequence Diagram
10.3 The Context for Interactions 252

in Interaction 254
10.4 Using Lifelines to Represent Participants an

255
10.4.1 Occurrence Specifications
 256
10.5 Exchanging Messages between Lifelines
10.5.1 Synchronous and Asynchronous Messages 256
10.5.2 Lost and Found Messages 258

259
10.5.3 Weak Sequencing
10.5.4 Executions 259

10.5.5 Lifeline Creation and Destruction 261

10.6 Representing Time on a Sequence Diagram 261

10.7 Describing Complex Scenarios Using Combined Fragments 264

10.7.1 Basic Interaction Operators 265

10.7.2 Additional Interaction Operators 266

10.7.3 State Invariants 268

10.8 Using Interaction References to Structure Complex Interactions 270

10.9 Decomposing Lifelines to Represent Internal Behavior 270

10.10 Summary 273

10.11 Questions 274

CHAPTER 11 Modeling Event-Based Behavior with State Machines 277

11.1 Overview 277

11.2 State Machine Diagram 278

11.3 Specifying States in a State Machine 278

11.3.1 Region 278

11.3.2 State 280

11.4 Transitioning between States 281

11.4.1 Transition Fundamentals 281

11.4.2 Routing Transitions Using Pseudostates 284
11.4.3 Showing Transitions Graphically 287
11.5 State Machines and Operation Calls 287
11.6 State Hierarchies 288
11.6.1
Composite State with a Single Region 289
11.6.2 Composite State with Multiple (Orthogonal) Regions 290

11.6.3 Transition Firing Order in Nested State Hierarchies 292

11.6.4 Using the History Pseudostate to Return to a Previously

Interrupted State 293

11.6.5 Reusing State Machines 295

11.7 Contrasting Discrete and Continuous States 297

11.8 Summary 299

11.9 Questions 300

CHAPTER 12 Modeling Functionality with Use Cases 303

12.1 Overview 303
12.2 Use Case Diagram 303
12.3 Using Actors to Represent the Users of a System 304
12.3.1 Further Descriptions of Actors 305
 12.4 Using Use Cases to DescribeSystem Functionality 305

12.4.1 Use Case Relationships 307

12.4.2 Use Case Descriptions 309

12.5 Elaborating Use Cases with Behaviors 310

12.5.1 Context Diagrams 310

12.5.2 Sequence Diagrams 310

12.5.3 Activity Diagrams 311

12.5.4 State Machine Diagrams 313

12.6 Summary 314

12.7 Questions 315

CHAPTER 13 Modeling Text-Based Requirements and Their Relationship

to Design 317
13.1 Overview 317

13.2 318
Requirement Diagram
320
13.3 Representing a Text Requirement in the Model
13.4 Types of Requirements Relationships 322

13.5 Representing Cross-Cutting Relationships in SysML Diagrams 322

13.5.1 Depicting Requirements Relationships Directly 323

13.5.2 Depicting Requirements Relationships Using Compartment

Notation 324
324
13.5.3 Depicting Requirements Relationships Using Callout Notation

13.6 325
Depicting Rationale for Requirements Relationships
326
13.7 Depicting Requirements and Their Relationships in Tables
13.7.1 Depicting Requirement Relationships in Tables 326

13.7.2 Depicting Requirement Relationships as Matrices 327

328
13.8 Modeling Requirement Hierarchies in Packages
13.9 328
Modeling a Requirements Containment Hierarchy
13.9.1 The Browser View of a Containment Hierarchy 329

13.10 Modeling Requirement Derivation 329

13.11 Asserting That a Requirement is Satisfied 331

13.12 Verifying That a Requirement is Satisfied 332

13.13 Reducing Requirements Ambiguity Using the Refine Relationship 335

13.14 the Relationship

Trace 338
Using General-Purpose
13.15 Reusing Requirements with the Copy Relationship 338

13.16 Summary 339

13.17 Questions 340

CHAPTER 14 Modeling Cross-Cutting Relationships with Allocations 343

14.1 Overview 343

14.2 Allocation 343

Relationship
14.3 Allocation Notation 345

14.4 of Allocation 347

Types
 14.4.1 Allocation of Requirements 347

14.4.2 Allocation of Behavior or Function 347

14.4.3 Allocation of Flow 348

14.4.4 Allocation of Structure 348

14.4.5 Allocation of Properties 348

14.4.6 Summary of Relationships Associated with the Term "Allocation" 349

14.5 Specifying Definition and Usage in Allocation 349

Planning for Reuse:
14.5.1 Allocating Usage 350

14.5.2 Allocating Definition 351

351
14.5.3 Allocating Asymmetrically
14.5.4 Guidelines for Allocating Definition and Usage 351

14.6 Allocating Behavior to Structure Using Functional Allocation 352

14.6.1 Modeling Functional Allocation of Usage 354

14.6.2 Modeling Functional Allocation of Definition 354

14.6.3 Modeling Functional Allocation Using Allocate Activity Partitions

(Allocate Swimlanes) 357

14.7 Connecting Functional Flow with Structural Flow Using Functional

Flow Allocation 358

14.7.1 Options for

Functionally Allocating Flow 358

14.7.2 Allocating an Object Flow to a Connector 358

14.7.3 Allocating Object Flow to Item Flow 359

14.8 Modeling Allocation between Independent Structural Hierarchies 361

14.8.1 Modeling Structural Allocation of Usage 362

14.8.2 Allocating a Logical Connector to a Physical Structure 362

14.8.3 Modeling Structural Allocation of Definition 363

14.9 Modeling Structural Flow Allocation 364

14.10 Evaluating Allocation across a User Model 366

14.10.1 Establishing Balance and Consistency 366

14.11 Taking Allocation to the Next Step 366

14.12 Summary 367

14.13 Questions 367

CHAPTER 15 Customizing SysML for Specific Domains 369

15.1 Overview 369
15.1.1 A Brief Review of Metamodeling Concepts 370
15.2 Defining Model Libraries to Provide Reusable Constructs 373
15.3 Defining Stereotypes to Extend Existing SysML Concepts 374
15.3.1 Adding Properties and Constraints to Stereotypes 376

15.4 Extending the SysML Language Using Profiles 379

15.4.1 Referencing a Metamodel or Metaclass from a Profile 380

15.5 Applying Profiles to User Models in Order to Use Stereotypes 381

15.6 Applying Stereotypes when Building a Model 382

15.6.1 Specializing Model Elements with Applied Stereotypes 384

 15.7 Summary 388

15.8 Questions 389

PART III MODELING EXAMPLES

CHAPTER 16 Water Distiller Example Using Functional Analysis 393

16.1 the Problem The Need for Clean Drinking Water 393
Stating -

16.2 Defining the Model-Based Systems Engineering Approach 394

16.3 Organizing the Model 394

16.4 Establishing Requirements 396

16.4.1 Characterizing Stakeholder Needs 396

16.4.2 Characterizing System Requirements 399

16.4.3 Characterizing Required Behaviors 400

16.4.4 Refining Behavior 406

16.5 Modeling Structure 409

16.5.1 Defining Distiller's Blocks in the Block Definition Diagram 409

412
16.5.2 Allocating Behavior
16.5.3 the Ports the Blocks 414
Defining on

16.5.4 Creating the Internal Block Diagram with Parts, Ports, Connectors,
and Item Flows 414

16.5.5 Allocation of Flow 417

417
16.6 Analyze Performance
16.6.1 Item Flow Heat Balance Analysis 417
420
16.6.2Resolving Heat Balance
420
16.7 Modify the Original Design
420
16.7.1 Updating Behavior
Allocation and Structure 421
16.7.2 Updating
425
16.7.3 Controlling the Distiller and the User Interaction
426
16.7.4 Developing a User Interface and a Controller

16.7.5 and Shutdown Considerations 427

Startup
16.8 Summary 429

16.9 Questions 429

CHAPTER 17 Residential Security System Example Using the Object-

Oriented Systems Engineering Method 431
17.1 Method Overview 431

17.1.1 Motivation and Background 431

17.1.2 System Development Process Overview 432

17.1.3 OOSEM System Specification and Design Process 435

17.2 Residential Security Overview 437

Example
17.2.1 Problem Background 437

17.2.2 Project Startup 437

 the Residential Security System 438
17.3 Applying OOSEM to Specify and Design
17.3.1 Setup Model 439

17.3.2 Analyze Stakeholder Needs 444

17.3.3 Analyze System Requirements 453

17.3.4 Define Logical Architecture 465

472
17.3.5 Synthesize Candidate Physical Architectures
501
17.3.6 Optimize and Evaluate Alternatives
507
17.3.7 Manage Requirements Traceability
17.3.8 OOSEM Support to Integrate and Verify System 513
515
17.3.9 Develop Enabling Systems
17.4 Summary 518

17.5 Questions 519

PART IV TRANSITIONING TO MODEL-BASED SYSTEMS ENGINEERING

CHAPTER 18 Integrating SysML into a Systems Development Environment 523

18.1 Understanding the

System Model's Role in the Broader Modeling Context 523
18.1.1 The System Model as an Integrating Framework 523

18.1.2 of Models and Simulations 523

Types
18.1.3 Using the System Model with Other Models 526
18.2 Tool Roles in a Systems Development Environment 530

18.2.1 Use of Tools to Model and Specify the

System 530

18.2.2 Use of Tools to Manage the Design Configuration and Related Data.... 531

18.2.3 Use of Tools to View and Document the Data 534

18.2.4 Verification and Validation Tools 535

18.2.5 Use of Project Management Tools to Manage the Development

Process 535

18.3 An Overview of Information Flow between Tools 535

18.3.1 Interconnecting System Modeling Tool with Other Tools

the 535

18.3.2 Interface with Requirements Management Tool 536

18.3.3 Interface with SoS/Business Modeling Tools 538

18.3.4 Interface with Simulation and Analysis Tools 538
18.3.5 Interface with Verification Tools 539
18.3.6 Interface with Development Tools 539
18.3.7 Interface with Documentation & View Generation Tool 540
18.3.8 Interface with Configuration Management Tool 540

18.3.9 Interface with Project Management Tool 542

18.4 Data Exchange Mechanisms 542

18.4.1 Considerations for Data Exchange 542

18.4.2 File-Based Exchange 544

18.4.3 API-based Exchange 546

18.4.4 Performing Transformations 547

 18.5 Data Exchange Applications 548
18.5.1
SysML to Modelica (bidirectional transformation) 548
18.5.2 Interchanging SysML Models and Ontologies 552
18.5.3 Document Generation from Models (unidirectional transformation) 552
18.6 Selecting a System Modeling Tool 553
18.6.1 Tool Selection Criteria 553
18.6.2
SysML Compliance 554

18.7 Summary 554

18.8 Questions 555

CHAPTER 19 Deploying SysML into an Organization 557

19.1 Improvement Process 557

19.1.1 Monitor and Assess 558

19.1.2 Plan theImprovement 559

19.1.3 Define Changes to Process, Methods, Tools, and Training 559

19.1.4 Pilot the Approach 560

19.1.5 Deploy Changes Incrementally 561
19.2 Summary 563
19.3 Questions 563

A 565
Appendix
References 595

Index -^9