Collaborative Modelling and Co-simulation in the Development of Dependable Embedded Systems
Identifieur interne : 003560 ( Istex/Corpus ); précédent : 003559; suivant : 003561Collaborative Modelling and Co-simulation in the Development of Dependable Embedded Systems
Auteurs : John Fitzgerald ; Peter Gorm Larsen ; Ken Pierce ; Marcel Verhoef ; Sune WolffSource :
- Lecture Notes in Computer Science [ 0302-9743 ]
Abstract
Abstract: This paper presents initial results of research aimed at developing methods and tools for multidisciplinary collaborative development of dependable embedded systems. We focus on the construction and analysis by co-simulation of formal models that combine discrete-event specifications of computer-based controllers with continuous-time models of the environment with which they interact. Basic concepts of collaborative modelling and co-simulation are presented. A pragmatic realisation using the VDM and Bond Graph formalisms is described and illustrated by means of an example, which includes the modelling of both normal and faulty behaviour. Consideration of a larger-scale example from the personal transportation domain suggests the forms of support needed to explore the design space of collaborative models. Based on experience so far, challenges for future research in this area are identified.
Url:
DOI: 10.1007/978-3-642-16265-7_2
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ISTEX:E0CED8CE260C7E6FFB0A9C9B5EF04BEB3144BFB6Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Collaborative Modelling and Co-simulation in the Development of Dependable Embedded Systems</title><author><name sortKey="Fitzgerald, John" sort="Fitzgerald, John" uniqKey="Fitzgerald J" first="John" last="Fitzgerald">John Fitzgerald</name><affiliation><mods:affiliation>Newcastle University, UK</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: John.Fitzgerald@ncl.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Larsen, Peter Gorm" sort="Larsen, Peter Gorm" uniqKey="Larsen P" first="Peter Gorm" last="Larsen">Peter Gorm Larsen</name><affiliation><mods:affiliation>Aarhus School of Engineering, Denmark</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: pgl@iha.dk</mods:affiliation></affiliation></author><author><name sortKey="Pierce, Ken" sort="Pierce, Ken" uniqKey="Pierce K" first="Ken" last="Pierce">Ken Pierce</name><affiliation><mods:affiliation>Newcastle University, UK</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: K.G.Pierce@ncl.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Verhoef, Marcel" sort="Verhoef, Marcel" uniqKey="Verhoef M" first="Marcel" last="Verhoef">Marcel Verhoef</name><affiliation><mods:affiliation>Chess, Haarlem, The Netherlands</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: Marcel.Verhoef@chess.nl</mods:affiliation></affiliation></author><author><name sortKey="Wolff, Sune" sort="Wolff, Sune" uniqKey="Wolff S" first="Sune" last="Wolff">Sune Wolff</name><affiliation><mods:affiliation>Aarhus School of Engineering, Denmark</mods:affiliation></affiliation><affiliation><mods:affiliation>Terma A/S, Denmark</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: sw@terma.dk</mods:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:E0CED8CE260C7E6FFB0A9C9B5EF04BEB3144BFB6</idno><date when="2010" year="2010">2010</date><idno type="doi">10.1007/978-3-642-16265-7_2</idno><idno type="url">https://api.istex.fr/ark:/67375/HCB-4KRXKH71-V/fulltext.pdf</idno><idno type="wicri:Area/Istex/Corpus">003560</idno><idno type="wicri:explorRef" wicri:stream="Istex" wicri:step="Corpus" wicri:corpus="ISTEX">003560</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Collaborative Modelling and Co-simulation in the Development of Dependable Embedded Systems</title><author><name sortKey="Fitzgerald, John" sort="Fitzgerald, John" uniqKey="Fitzgerald J" first="John" last="Fitzgerald">John Fitzgerald</name><affiliation><mods:affiliation>Newcastle University, UK</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: John.Fitzgerald@ncl.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Larsen, Peter Gorm" sort="Larsen, Peter Gorm" uniqKey="Larsen P" first="Peter Gorm" last="Larsen">Peter Gorm Larsen</name><affiliation><mods:affiliation>Aarhus School of Engineering, Denmark</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: pgl@iha.dk</mods:affiliation></affiliation></author><author><name sortKey="Pierce, Ken" sort="Pierce, Ken" uniqKey="Pierce K" first="Ken" last="Pierce">Ken Pierce</name><affiliation><mods:affiliation>Newcastle University, UK</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: K.G.Pierce@ncl.ac.uk</mods:affiliation></affiliation></author><author><name sortKey="Verhoef, Marcel" sort="Verhoef, Marcel" uniqKey="Verhoef M" first="Marcel" last="Verhoef">Marcel Verhoef</name><affiliation><mods:affiliation>Chess, Haarlem, The Netherlands</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: Marcel.Verhoef@chess.nl</mods:affiliation></affiliation></author><author><name sortKey="Wolff, Sune" sort="Wolff, Sune" uniqKey="Wolff S" first="Sune" last="Wolff">Sune Wolff</name><affiliation><mods:affiliation>Aarhus School of Engineering, Denmark</mods:affiliation></affiliation><affiliation><mods:affiliation>Terma A/S, Denmark</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: sw@terma.dk</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="s" type="main" xml:lang="en">Lecture Notes in Computer Science</title><idno type="ISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="ISSN">0302-9743</idno></series></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract: This paper presents initial results of research aimed at developing methods and tools for multidisciplinary collaborative development of dependable embedded systems. We focus on the construction and analysis by co-simulation of formal models that combine discrete-event specifications of computer-based controllers with continuous-time models of the environment with which they interact. Basic concepts of collaborative modelling and co-simulation are presented. A pragmatic realisation using the VDM and Bond Graph formalisms is described and illustrated by means of an example, which includes the modelling of both normal and faulty behaviour. Consideration of a larger-scale example from the personal transportation domain suggests the forms of support needed to explore the design space of collaborative models. Based on experience so far, challenges for future research in this area are identified.</div></front></TEI><istex><corpusName>springer-ebooks</corpusName><author><json:item><name>John Fitzgerald</name><affiliations><json:string>Newcastle University, UK</json:string><json:string>E-mail: John.Fitzgerald@ncl.ac.uk</json:string></affiliations></json:item><json:item><name>Peter Gorm Larsen</name><affiliations><json:string>Aarhus School of Engineering, Denmark</json:string><json:string>E-mail: pgl@iha.dk</json:string></affiliations></json:item><json:item><name>Ken Pierce</name><affiliations><json:string>Newcastle University, UK</json:string><json:string>E-mail: K.G.Pierce@ncl.ac.uk</json:string></affiliations></json:item><json:item><name>Marcel Verhoef</name><affiliations><json:string>Chess, Haarlem, The Netherlands</json:string><json:string>E-mail: Marcel.Verhoef@chess.nl</json:string></affiliations></json:item><json:item><name>Sune Wolff</name><affiliations><json:string>Aarhus School of Engineering, Denmark</json:string><json:string>Terma A/S, Denmark</json:string><json:string>E-mail: sw@terma.dk</json:string></affiliations></json:item></author><arkIstex>ark:/67375/HCB-4KRXKH71-V</arkIstex><language><json:string>eng</json:string></language><originalGenre><json:string>OriginalPaper</json:string></originalGenre><abstract>Abstract: This paper presents initial results of research aimed at developing methods and tools for multidisciplinary collaborative development of dependable embedded systems. 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DisplayOrder="Western"><GivenName>Madhu</GivenName><FamilyName>Sudan</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff12"><EditorName DisplayOrder="Western"><GivenName>Demetri</GivenName><FamilyName>Terzopoulos</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff13"><EditorName DisplayOrder="Western"><GivenName>Doug</GivenName><FamilyName>Tygar</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff14"><EditorName DisplayOrder="Western"><GivenName>Moshe</GivenName><GivenName>Y.</GivenName><FamilyName>Vardi</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff15"><EditorName DisplayOrder="Western"><GivenName>Gerhard</GivenName><FamilyName>Weikum</FamilyName></EditorName></Editor><Affiliation ID="Aff1"><OrgName>Lancaster University</OrgName><OrgAddress><City>Lancaster</City><Country>UK</Country></OrgAddress></Affiliation><Affiliation ID="Aff2"><OrgName>Carnegie Mellon University</OrgName><OrgAddress><City>Pittsburgh</City><State>PA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff3"><OrgName>University of Surrey</OrgName><OrgAddress><City>Guildford</City><Country>UK</Country></OrgAddress></Affiliation><Affiliation ID="Aff4"><OrgName>Cornell University</OrgName><OrgAddress><City>Ithaca</City><State>NY</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff5"><OrgName>ETH Zurich</OrgName><OrgAddress><City>Zurich</City><Country>Switzerland</Country></OrgAddress></Affiliation><Affiliation ID="Aff6"><OrgName>Stanford University</OrgName><OrgAddress><City>Stanford</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff7"><OrgName>Weizmann Institute of Science</OrgName><OrgAddress><City>Rehovot</City><Country>Israel</Country></OrgAddress></Affiliation><Affiliation ID="Aff8"><OrgName>University of Bern</OrgName><OrgAddress><City>Bern</City><Country>Switzerland</Country></OrgAddress></Affiliation><Affiliation ID="Aff9"><OrgName>Indian Institute of Technology</OrgName><OrgAddress><City>Madras</City><Country>India</Country></OrgAddress></Affiliation><Affiliation ID="Aff10"><OrgName>University of Dortmund</OrgName><OrgAddress><City>Dortmund</City><Country>Germany</Country></OrgAddress></Affiliation><Affiliation ID="Aff11"><OrgName>Massachusetts Institute of Technology</OrgName><OrgAddress><State>MA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff12"><OrgName>University of California</OrgName><OrgAddress><City>Los Angeles</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff13"><OrgName>University of California</OrgName><OrgAddress><City>Berkeley</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff14"><OrgName>Rice University</OrgName><OrgAddress><City>Houston</City><State>TX</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff15"><OrgName>Max-Planck Institute of Computer Science</OrgName><OrgAddress><City>Saarbrücken</City><Country>Germany</Country></OrgAddress></Affiliation></EditorGroup></SeriesHeader><Book Language="En"><BookInfo BookProductType="Proceedings" ContainsESM="No" Language="En" MediaType="eBook" NumberingDepth="2" NumberingStyle="ContentOnly" OutputMedium="All" TocLevels="0"><BookID>978-3-642-16265-7</BookID><BookTitle>Integrated Formal Methods</BookTitle><BookSubTitle>8th International Conference, IFM 2010, Nancy, France, October 11-14, 2010. Proceedings</BookSubTitle><BookVolumeNumber>6396</BookVolumeNumber><BookSequenceNumber>6396</BookSequenceNumber><BookDOI>10.1007/978-3-642-16265-7</BookDOI><BookTitleID>214087</BookTitleID><BookPrintISBN>978-3-642-16264-0</BookPrintISBN><BookElectronicISBN>978-3-642-16265-7</BookElectronicISBN><BookChapterCount>23</BookChapterCount><BookCopyright><CopyrightHolderName>Springer Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2010</CopyrightYear></BookCopyright><BookSubjectGroup><BookSubject Code="I" Type="Primary">Computer Science</BookSubject><BookSubject Code="I14029" Priority="1" Type="Secondary">Software Engineering</BookSubject><BookSubject Code="I1603X" Priority="2" Type="Secondary">Logics and Meanings of Programs</BookSubject><BookSubject Code="I14037" Priority="3" Type="Secondary">Programming Languages, Compilers, Interpreters</BookSubject><BookSubject Code="I16048" Priority="4" Type="Secondary">Mathematical Logic and Formal Languages</BookSubject><BookSubject Code="I14010" Priority="5" Type="Secondary">Programming Techniques</BookSubject><BookSubject Code="I16021" Priority="6" Type="Secondary">Algorithm Analysis and Problem Complexity</BookSubject><SubjectCollection Code="SUCO11645">Computer Science</SubjectCollection></BookSubjectGroup><BookContext><SeriesID>558</SeriesID></BookContext></BookInfo><BookHeader><EditorGroup><Editor AffiliationIDS="Aff16"><EditorName DisplayOrder="Western"><GivenName>Dominique</GivenName><FamilyName>Méry</FamilyName></EditorName><Contact><Email>Dominique.Mery@loria.fr</Email></Contact></Editor><Editor AffiliationIDS="Aff16"><EditorName DisplayOrder="Western"><GivenName>Stephan</GivenName><FamilyName>Merz</FamilyName></EditorName><Contact><Email>Stephan.Merz@loria.fr</Email></Contact></Editor><Affiliation ID="Aff16"><OrgDivision>INRIA Nancy-Grand Est & LORIA</OrgDivision><OrgName>Bâtiment B, équipe MOSEL</OrgName><OrgAddress><Street>615 rue du Jardin Botanique</Street><Postcode>54602</Postcode><City>Villers-lès-Nancy cédex</City><Country>France</Country></OrgAddress></Affiliation></EditorGroup></BookHeader><Chapter ID="Chap2" Language="En"><ChapterInfo ChapterType="OriginalPaper" ContainsESM="No" NumberingDepth="2" NumberingStyle="ContentOnly" TocLevels="0"><ChapterID>2</ChapterID><ChapterDOI>10.1007/978-3-642-16265-7_2</ChapterDOI><ChapterSequenceNumber>2</ChapterSequenceNumber><ChapterTitle Language="En">Collaborative Modelling and Co-simulation in the Development of Dependable Embedded Systems</ChapterTitle><ChapterFirstPage>12</ChapterFirstPage><ChapterLastPage>26</ChapterLastPage><ChapterCopyright><CopyrightHolderName>Springer-Verlag Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2010</CopyrightYear></ChapterCopyright><ChapterGrants Type="Regular"><MetadataGrant Grant="OpenAccess"></MetadataGrant><AbstractGrant Grant="OpenAccess"></AbstractGrant><BodyPDFGrant Grant="Restricted"></BodyPDFGrant><BodyHTMLGrant Grant="Restricted"></BodyHTMLGrant><BibliographyGrant Grant="Restricted"></BibliographyGrant><ESMGrant Grant="Restricted"></ESMGrant></ChapterGrants><ChapterContext><SeriesID>558</SeriesID><BookID>978-3-642-16265-7</BookID><BookTitle>Integrated Formal Methods</BookTitle></ChapterContext></ChapterInfo><ChapterHeader><AuthorGroup><Author AffiliationIDS="Aff17"><AuthorName DisplayOrder="Western"><GivenName>John</GivenName><FamilyName>Fitzgerald</FamilyName></AuthorName><Contact><Email>John.Fitzgerald@ncl.ac.uk</Email></Contact></Author><Author AffiliationIDS="Aff18"><AuthorName DisplayOrder="Western"><GivenName>Peter</GivenName><GivenName>Gorm</GivenName><FamilyName>Larsen</FamilyName></AuthorName><Contact><Email>pgl@iha.dk</Email></Contact></Author><Author AffiliationIDS="Aff17"><AuthorName DisplayOrder="Western"><GivenName>Ken</GivenName><FamilyName>Pierce</FamilyName></AuthorName><Contact><Email>K.G.Pierce@ncl.ac.uk</Email></Contact></Author><Author AffiliationIDS="Aff19"><AuthorName DisplayOrder="Western"><GivenName>Marcel</GivenName><FamilyName>Verhoef</FamilyName></AuthorName><Contact><Email>Marcel.Verhoef@chess.nl</Email></Contact></Author><Author AffiliationIDS="Aff18 Aff20"><AuthorName DisplayOrder="Western"><GivenName>Sune</GivenName><FamilyName>Wolff</FamilyName></AuthorName><Contact><Email>sw@terma.dk</Email></Contact></Author><Affiliation ID="Aff17"><OrgName>Newcastle University</OrgName><OrgAddress><Country>UK</Country></OrgAddress></Affiliation><Affiliation ID="Aff18"><OrgName>Aarhus School of Engineering</OrgName><OrgAddress><Country>Denmark</Country></OrgAddress></Affiliation><Affiliation ID="Aff19"><OrgName>Chess, Haarlem</OrgName><OrgAddress><Country>The Netherlands</Country></OrgAddress></Affiliation><Affiliation ID="Aff20"><OrgName>Terma A/S</OrgName><OrgAddress><Country>Denmark</Country></OrgAddress></Affiliation></AuthorGroup><Abstract ID="Abs1" Language="En"><Heading>Abstract</Heading><Para>This paper presents initial results of research aimed at developing methods and tools for multidisciplinary collaborative development of dependable embedded systems. We focus on the construction and analysis by co-simulation of formal models that combine discrete-event specifications of computer-based controllers with continuous-time models of the environment with which they interact. Basic concepts of collaborative modelling and co-simulation are presented. A pragmatic realisation using the VDM and Bond Graph formalisms is described and illustrated by means of an example, which includes the modelling of both normal and faulty behaviour. Consideration of a larger-scale example from the personal transportation domain suggests the forms of support needed to explore the design space of collaborative models. Based on experience so far, challenges for future research in this area are identified.</Para></Abstract></ChapterHeader><NoBody></NoBody></Chapter></Book></Series></Publisher></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Collaborative Modelling and Co-simulation in the Development of Dependable Embedded Systems</title></titleInfo><titleInfo type="alternative" contentType="CDATA"><title>Collaborative Modelling and Co-simulation in the Development of Dependable Embedded Systems</title></titleInfo><name type="personal"><namePart type="given">John</namePart><namePart type="family">Fitzgerald</namePart><affiliation>Newcastle University, UK</affiliation><affiliation>E-mail: John.Fitzgerald@ncl.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Peter</namePart><namePart type="given">Gorm</namePart><namePart type="family">Larsen</namePart><affiliation>Aarhus School of Engineering, Denmark</affiliation><affiliation>E-mail: pgl@iha.dk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Ken</namePart><namePart type="family">Pierce</namePart><affiliation>Newcastle University, UK</affiliation><affiliation>E-mail: K.G.Pierce@ncl.ac.uk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Marcel</namePart><namePart type="family">Verhoef</namePart><affiliation>Chess, Haarlem, The Netherlands</affiliation><affiliation>E-mail: Marcel.Verhoef@chess.nl</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Sune</namePart><namePart type="family">Wolff</namePart><affiliation>Aarhus School of Engineering, Denmark</affiliation><affiliation>Terma A/S, Denmark</affiliation><affiliation>E-mail: sw@terma.dk</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre displayLabel="OriginalPaper" authority="ISTEX" authorityURI="https://content-type.data.istex.fr" type="conference" valueURI="https://content-type.data.istex.fr/ark:/67375/XTP-BFHXPBJJ-3">conference</genre><originInfo><publisher>Springer Berlin Heidelberg</publisher><place><placeTerm type="text">Berlin, Heidelberg</placeTerm></place><dateIssued encoding="w3cdtf">2010</dateIssued><copyrightDate encoding="w3cdtf">2010</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><abstract lang="en">Abstract: This paper presents initial results of research aimed at developing methods and tools for multidisciplinary collaborative development of dependable embedded systems. We focus on the construction and analysis by co-simulation of formal models that combine discrete-event specifications of computer-based controllers with continuous-time models of the environment with which they interact. Basic concepts of collaborative modelling and co-simulation are presented. A pragmatic realisation using the VDM and Bond Graph formalisms is described and illustrated by means of an example, which includes the modelling of both normal and faulty behaviour. Consideration of a larger-scale example from the personal transportation domain suggests the forms of support needed to explore the design space of collaborative models. Based on experience so far, challenges for future research in this area are identified.</abstract><relatedItem type="host"><titleInfo><title>Integrated Formal Methods</title><subTitle>8th International Conference, IFM 2010, Nancy, France, October 11-14, 2010. Proceedings</subTitle></titleInfo><name type="personal"><namePart type="given">Dominique</namePart><namePart type="family">Méry</namePart><affiliation>INRIA Nancy-Grand Est & LORIA, Bâtiment B, équipe MOSEL, 615 rue du Jardin Botanique, 54602, Villers-lès-Nancy cédex, France</affiliation><affiliation>E-mail: Dominique.Mery@loria.fr</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Stephan</namePart><namePart type="family">Merz</namePart><affiliation>INRIA Nancy-Grand Est & LORIA, Bâtiment B, équipe MOSEL, 615 rue du Jardin Botanique, 54602, Villers-lès-Nancy cédex, France</affiliation><affiliation>E-mail: Stephan.Merz@loria.fr</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><genre type="book-series" authority="ISTEX" authorityURI="https://publication-type.data.istex.fr" 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Computer Science</title></titleInfo><name type="personal"><namePart type="given">David</namePart><namePart type="family">Hutchison</namePart><affiliation>Lancaster University, Lancaster, UK</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Takeo</namePart><namePart type="family">Kanade</namePart><affiliation>Carnegie Mellon University, Pittsburgh, PA, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Josef</namePart><namePart type="family">Kittler</namePart><affiliation>University of Surrey, Guildford, UK</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Jon</namePart><namePart type="given">M.</namePart><namePart type="family">Kleinberg</namePart><affiliation>Cornell University, Ithaca, NY, USA</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name 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