Agile Continuous Integration Testing of Embedded Software Systems with Digital Twin Prototypes
The demands of Industry 4.0 are fundamentally reshaping how embedded software systems are developed. Traditional approaches relying on Hardware-in-the-Loop testing are becoming increasingly complex and costly. This thesis addresses these challenges by formalizing a comprehensive digital twin concept that goes beyond mere simulations. The formal specification in Object-Z includes the physical twin, digital model, digital template, digital thread, digital shadow, the digital twin itself, and finally, the digital twin prototype. All concepts were validated in a 2020 real-world mission in the Baltic Sea as part of the ARCHES project, involving the development of an underwater network of ocean observation systems. At the core of this dissertation is the digital twin prototype, enabling a shift from Hardware-in-the-Loop to Software-in-the-Loop processes. This allows parallel development on the same embedded software, supported by automated integration tests in a continuous integration pipeline--even for serial communication protocols.
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