一句话：提出集成工具链 MIMOS-Tools，以确定性的 MIMOS 计算模型统一建模、验证、实时调度分析与异构多核代码生成。
嵌入式实时系统的基于模型方法与工具发展数十年，但仍缺少覆盖整个开发生命周期的集成环境。本文提出 MIMOS-Tools，其建模、仿真、形式验证、实时调度、可调度性与端到端延迟分析、以及面向异构多核平台的代码生成等阶段均建立在同一个确定性计算模型 MIMOS 之上；作者给出该模型的形式操作语义，并证明其功能确定性与时间确定性，从而保证模型层验证的性质可贯穿开发过程并保持到生成实现中。与依赖全局基时钟和离线静态调度的 SCADE、Simulink 等同步设计环境不同，该工具链支持时间触发的异步通信与灵活的计算实时调度，解除全局紧耦合，使组件可增删改而无需重算全局调度，实现可扩展的增量设计与生命周期内的动态更新；同时通过将任务截止期设为零，仍可支持 Simulink 模型的零时间同步语义。工具链已公开提供。
Despite decades of progress in model-based methods and tools for embedded real-time systems, there is still no integrated environment that supports the entire development lifecycle. This paper presents MIMOS-Tools, a comprehensive toolchain spanning the key phases of development, including modeling, simulation, formal verification, real-time scheduling, schedulability and end-to-end latency analysis, and code generation for heterogeneous multicore platforms. All phases are grounded in a single, coherent, and deterministic model of computation, the MIMOS model, for which we present a formal operational semantics and establish both functional and timing determinism. This semantic foundation ensures that properties verified at the model level are preserved throughout the development process and in the generated implementation. A distinguishing feature of MIMOS-Tools is its support for not only deterministic but also modular, compositional design. Unlike synchronous design environments such as SCADE and Simulink, which rely on a global base clock and offline static scheduling, MIMOS-Tools supports time-triggered asynchronous communication together with flexible real-time scheduling of computation. This removes the tight global coupling of the synchronous paradigm: components can be added, modified, or updated without recomputing a system-wide schedule, enabling scalable and incremental design and dynamic updates throughout the system lifecycle. However, MIMOS-Tools also supports Simulink models when the deadlines of tasks are set to zero to emulate the zero-time semantics of synchronous design. The toolchain is available at https://uu-mimos.github.io.
@inproceedings{paperbot12365,
title = {MIMOS-Tools: An Integrated Toolchain for Model-Based Design of Embedded Systems},
author = {Wang Yi and Chengzi Huang and Behnam Khodabandeloo and Duc Anh Nguyen},
booktitle = {ASE},
year = {2026},
doi = {10.1145/3832783.3834624}
}