Accurate modeling of physical time in asynchronous embedded sensing networks

Cyber-physical systems (CPSs) allow user to interconnect devices that monitor and control a physical environment. Many times these devices run at different clock frequencies. Due to system complexity, simulation represents a proper way for efficient debugging and validation. In previous work we have proposed a simulation framework for CPSs. The work presented in this paper extends this framework to allow different phase shift between CPS devices for a time accurate simulation.