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Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin SFM'16 – Bertinoro 24 June 2016

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Page 1: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Quantitative Abstractions For Collective Adaptive Systems

Mirco Tribastone and Andrea Vandin

SFM'16 – Bertinoro24 June 2016

Page 2: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Outline

● ERODE: A tool for the Evaluation and Reduction of ODEs- Frontend- Core- Reduction Techniques

● Case Studies- Large case studies

Continuous time Markov chains from MRMC distributionChemical Reaction Networks from the literature

- Spatial dynamicsCrowd DynamicsMulti-community Epidemiology

Page 3: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Evaluation and Reduction of ODEs

IDOL: Intermediate Drift-oriented Language [POPL’16]

Reaction Networks [CONCUR’15, TACAS’16]

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ERODE: Evaluation and Reduction of ODEs

IDOL: Intermediate Drift-oriented Language [POPL’16]

Reaction Networks [CONCUR’15, TACAS’16]

● Forward Equivalence● Backward Equivalence

● Forward Bisimulation● Backward Bisimulation

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ERODE: Evaluation and Reduction of ODEs

IDOL: Intermediate Drift-oriented Language [POPL’16]

Reaction Networks [CONCUR’15, TACAS’16]

Luca Cardelli¹ Mirco Tribastone² Max Tschaikowski² Andrea Vandin²

¹ Microsoft Research and University of Oxford, UK² IMT School for Advanced Studies Lucca, Italy

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Tool paper submitted at CAV'16

ERODE: Evaluation and Reduction of ODEs

http://sysma.imtlucca.it/tools/erode/

Page 7: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Evaluation and Reduction of ODEs

Auto-completionError detectionFix suggestion

Project explorerOutline & Problems

Console & Plots

Update managerNew ERODE Project & FileImport BNG, Matlab, LBS

ERODE ViewsODE and RN Editor ERODE Wizards

ODESimulator

Statistical ModelChecker (RN)

BDE/FDE Reducer

BB/FB Reducer (RN)

ODE RN Encoder

Importer/Exporter(BNG,Matlab,LBS,SBML)

StochasticSimulator (RN)

ApacheCommons Math FERN MultiVeStA Microsoft Z3

FRO

NTE

ND

CORE

APIs

Page 8: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Frontend

Auto-completionError detectionFix suggestion

Project explorerOutline & Problems

Console & Plots

Update managerNew ERODE Project & FileImport BNG, Matlab, LBS

ERODE ViewsODE and RN Editor ERODE Wizards

ODESimulator

Statistical ModelChecker (RN)

BDE/FDE Reducer

BB/FB Reducer (RN)

ODE RN Encoder

Importer/Exporter(BNG,Matlab,LBS,SBML)

StochasticSimulator (RN)

ApacheCommons Math FERN MultiVeStA Microsoft Z3

FRO

NTE

ND

CORE

APIs

Page 9: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Highlights:● The Project explorer● Project and file creation● Parts composing an ERODE file● The Outline● Auto completion, error detection and fix suggestion● Importer wizards● Updates manager

ERODE: Frontend

Page 10: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core

Auto-completionError detectionFix suggestion

Project explorerOutline & Problems

Console & Plots

Update managerNew ERODE Project & FileImport BNG, Matlab, LBS

ERODE ViewsODE and RN Editor ERODE Wizards

ODESimulator

Statistical ModelChecker (RN)

BDE/FDE Reducer

BB/FB Reducer (RN)

ODE RN Encoder

Importer/Exporter(BNG,Matlab,LBS,SBML)

StochasticSimulator (RN)

ApacheCommons Math FERN MultiVeStA Microsoft Z3

FRO

NTE

ND

CORE

APIs

Page 11: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Highlights● SimulateODE● setIC/setParam, ● Plots and CSV files● Views in plots● RN to ODE encoding● Specific features of ODE editor● Matlab export/import● Stochastic simulation

ERODE: Core

Page 12: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ODESimulator

Statistical ModelChecker (RN)

ODE RN Encoder

Importer/Exporter(BNG,Matlab,LBS,SBML)

StochasticSimulator (RN)

ERODE: Core – Reduction techniques

Auto-completionError detectionFix suggestion

Project explorerOutline & Problems

Console & Plots

Update managerNew ERODE Project & FileImport BNG, Matlab, LBS

ERODE ViewsODE and RN Editor ERODE Wizards

ApacheCommons Math FERN MultiVeStA Microsoft Z3

FRO

NTE

ND

CORE

APIs

BDE/FDE Reducer

BB/FB Reducer (RN)

Page 13: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

A B

A simple binding/unbinding model

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ERODE: Core – Reduction techniques

A

b

B

b

A simple binding/unbinding model

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ERODE: Core – Reduction techniques

A

b

B

b

A simple binding/unbinding model

Page 16: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

A

b~P

B

b

A

b~U

B

b

A simple binding/unbinding model

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ERODE: Core – Reduction techniques

A

b~U

A

b~Pr1

r2

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ERODE: Core – Reduction techniques

A

b~U

B

b

A

b~U

A

b~P

A

b~U

B

b

r1

r2

3

4

Page 19: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

A

b~U

B

b

A

b~U

A

b~P

A

b~U

B

b

A

b~P

B

b

A

b~P

B

b

r1

r2

3

4

3

4

Page 20: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Highlights● RN specification● ODE simulation● ODE specification (via encoding)● FDE reduction

● With & without pre-partitioning● Explanation of reduction via plots

● BDE reduction● For r1=r2 and not● With & without IC pre-partitioning● Explanation of reduction via plots

ERODE: FDE/BDE

Page 21: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Model Candidate partition

Page 22: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Model Candidate partition

Equivalence condition (quantifier free)

Page 23: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Model Candidate partition

Equivalence condition (quantifier free)

Page 24: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Model Candidate partition

Equivalence condition (quantifier free)

SMT check

Page 25: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Model Candidate partition

Equivalence condition (quantifier free)

SMT check

Page 26: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Algorithm. Compute the largest equivalence that refines a given partition of variables:

Page 27: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Algorithm. Compute the largest equivalence that refines a given partition of variables:

1. SMT check of negation of

Page 28: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Algorithm. Compute the largest equivalence that refines a given partition of variables:

1. SMT check of negation of

sat

Page 29: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Algorithm. Compute the largest equivalence that refines a given partition of variables:

1. SMT check of negation of

2. If sat get witness and split partition preserving its uniformity. Goto 1.

sat

Page 30: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Algorithm. Compute the largest equivalence that refines a given partition of variables:

1. SMT check of negation of

2. If sat get witness and split partition preserving its uniformity. Goto 1.

sat

Page 31: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Algorithm. Compute the largest equivalence that refines a given partition of variables:

1. SMT check of negation of

2. If sat get witness and split partition preserving its uniformity. Goto 1.

unsat

sat

Page 32: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Algorithm. Compute the largest equivalence that refines a given partition of variables:

1. SMT check of negation of

2. If sat get witness and split partition preserving its uniformity. Goto 1.

3. If unsat the current partition is the coarsest refinement. End. unsat

sat

Page 33: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Model Candidate partition

Equivalence condition (quantifier free)

SMT check

Page 34: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Core – Reduction techniques

Model Candidate partition

Equivalence condition (quantifier free)

SMT checkhttp://rise4fun.com/Z3/lW7d1http://rise4fun.com/Z3/lW7d1

Page 35: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Highlights● RN Encoding● FDE & FB reduction

● Same FDE reductions as for ODE● FB is stricter than FDE

● BDE & BB reduction● Same BDE reductions as for ODE● The two reductions coincide● Comparison of the BDE/BB reduced RNs

ERODE: FB/BB

Page 36: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Outline

● ERODE: A tool for the Evaluation and Reduction of ODEs- Frontend- Core- Reduction Techniques

● Case Studies- Large case studies

Continuous time Markov chains from MRMC distributionChemical Reaction Networks from the literature

- Spatial dynamicsCrowd DynamicsMulti-community Epidemiology

Page 37: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Some considered large case studies

Page 38: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

J.P. Katoen, T. Kemna, I.S. Zapreev, and D.N. Jansen.Bisimulation minimisation mostly speeds up probabilistic model checking. TACAS, 2007

Largest models from MRMC distributionComparison with state-of-the-art model checker to assess scalability and correctness

Page 39: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

J.P. Katoen, T. Kemna, I.S. Zapreev, and D.N. Jansen.Bisimulation minimisation mostly speeds up probabilistic model checking. TACAS, 2007

Largest models from MRMC distributionComparison with state-of-the-art model checker to assess scalability and correctness

Page 40: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

J.P. Katoen, T. Kemna, I.S. Zapreev, and D.N. Jansen.Bisimulation minimisation mostly speeds up probabilistic model checking. TACAS, 2007

Largest models from MRMC distributionComparison with state-of-the-art model checker to assess scalability and correctness

Page 41: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Biochemical models from BioNetGen repositorySupport for state-of-the-art tool for the analysis of biological networks

http://bionetgen.org

Page 42: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Observable-preserving FB reduction

Page 43: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

P. Kocieniewski, J.R. Faeder, and T. LipniackiThe interplay of double phosphorylation and scaffolding in MAPK pathways. Journal of Theoretical Biology 295, 2012

Observable-preserving FB reduction

Page 44: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Outline

● ERODE: A tool for the Evaluation and Reduction of ODEs- Frontend- Core- Reduction Techniques

● Case Studies- Large case studies

Continuous time Markov chains from MRMC distributionChemical Reaction Networks from the literature

- Spatial dynamicsCrowd DynamicsMulti-community Epidemiology

Page 45: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Crowd Dynamics

Square 4

Square 1 Square 2

Square 3

J.E. Rowe, R.L. Gomez. El Botellon: Modeling the movement of crowds in a city. Complex Systems 14, 2003L. Bortolussi, D. Latella, M. Massink. Stochastic process algebra and stability analysis of collective systems. Coordination 2013

Page 46: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Crowd Dynamics

Square 4

Square 1 Square 2

Square 3

s1s1

J.E. Rowe, R.L. Gomez. El Botellon: Modeling the movement of crowds in a city. Complex Systems 14, 2003L. Bortolussi, D. Latella, M. Massink. Stochastic process algebra and stability analysis of collective systems. Coordination 2013

Page 47: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Crowd Dynamics

Square 4

Square 1 Square 2

Square 3

0.25

0.25

0.75 0.75

s1s1

J.E. Rowe, R.L. Gomez. El Botellon: Modeling the movement of crowds in a city. Complex Systems 14, 2003L. Bortolussi, D. Latella, M. Massink. Stochastic process algebra and stability analysis of collective systems. Coordination 2013

Page 48: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Crowd Dynamics

Square 4

Square 1 Square 2

Square 3

0.25

0.25

0.75 0.75

s1s1 s2s2

J.E. Rowe, R.L. Gomez. El Botellon: Modeling the movement of crowds in a city. Complex Systems 14, 2003L. Bortolussi, D. Latella, M. Massink. Stochastic process algebra and stability analysis of collective systems. Coordination 2013

Page 49: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Crowd Dynamics

s1s1 s2s2

s1s1 s4s4

s2s2 s3s3

s3s3 s4s4

Page 50: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Highlights● Plots for different IC● BDE/BB formally proves the presence of “symmetric squares”

ERODE: FB/BB

Square 4

Square 1 Square 2

Square 3

0.25

0.25

0.75 0.75

Page 51: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Multi-community Epidemiology

Community 4

Community 1 Community 2

Community 3

0.01

0.01

0.03 0.03

Page 52: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Multi-community Epidemiology

Community 4

Community 2

Community 3

0.01

0.01

0.03 0.03

Community 1

R1I1S1

Page 53: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Si Sj

Multi-community Epidemiology

Ii Ij

Ri Rj

Movements

Page 54: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Si Sj IiSi IiIi

Multi-community Epidemiology

Ii Ij

Ri Rj

Movements Local interactions

Page 55: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Si Sj IiSi IiIi

Ii Ri

Multi-community Epidemiology

Ii Ij

Ri Rj

Movements Local interactions

Page 56: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Multi-community Epidemiology

Community 4

Community 1 Community 2

Community 3

Page 57: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Multi-community Epidemiology

Community 4

Community 1 Community 2

Community 3

Page 58: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Multi-community Epidemiology

http://groups.inf.ed.ac.uk/paloma/SIR.paloma

C. Feng, J. Hillston.PALOMA: A Process Algebra for Located Markovian Agents. QEST 2014

Page 59: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Multi-community Epidemiology

C. Feng, J. Hillston, V. Galpin.Automatic Moment-Closure Approximation of Spatially Distributed Collective Adaptive Systems. ACM Trans. Mod. Comp. Sim. 26, 2016

Page 60: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Multi-community Epidemiology

Community 4

Community 2

Community 3

0.01

0.01

0.03 0.03

Community 1

R1I1S1

R4I4S4

R2I2S2

R3I3S3

Page 61: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Multi-community Epidemiology

Community 4

Community 2

Community 3

0.01

0.01

0.03 0.03

Community 1

R1I1S1

R4I4S4

R2I2S2

R3I3S3

Page 62: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

ERODE: Evaluation and Reduction of ODEs

Auto-completionError detectionFix suggestion

Project explorerOutline & Problems

Console & Plots

Update managerNew ERODE Project & FileImport BNG, Matlab, LBS

ERODE ViewsODE and RN Editor ERODE Wizards

ODESimulator

Statistical ModelChecker (RN)

BDE/FDE Reducer

BB/FB Reducer (RN)

ODE RN Encoder

Importer/Exporter(BNG,Matlab,LBS,SBML)

StochasticSimulator (RN)

ApacheCommons Math FERN MultiVeStA Microsoft Z3

FRO

NTE

ND

CORE

APIs

Page 63: Quantitative Abstractions For Collective Adaptive Systems · Quantitative Abstractions For Collective Adaptive Systems Mirco Tribastone and Andrea Vandin ... -Spatial dynamics Crowd

Thanks

http://sysma.imtlucca.it/tools/erode/