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Week 1 Lectures 1

Week 1 Lectures 1. Introduction to CPS Instructor: Prof. Fei Hu, ECE, Univ of Alabama. Computing Evolution. CPS: Computing Perspective. Two types of computing systems Desktops, servers, PCs, and notebooks Embedded The next frontier Mainframe computing (60’s-70’s)

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Week 1 Lectures 1

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  1. Week 1 Lectures 1 Introduction to CPS Instructor: Prof. Fei Hu, ECE, Univ of Alabama

  2. Computing Evolution

  3. CPS: Computing Perspective • Two types of computing systems • Desktops, servers, PCs, andnotebooks • Embedded • The next frontier • Mainframe computing (60’s-70’s) • Large computers to execute big data processing applications • Desktop computing & Internet (80’s-90’s) • One computer at every desk to do business/personal activities • Embedded computing (21st Century) • “Invisible” part of the environment • Transformation of industry • Number of microprocessor units per year • Millions in desktops • Billions in embedded processors • Applications: • Automotive Systems • Light and heavy automobiles, trucks, buses • Aerospace Systems • Airplanes, space systems • Consumer electronics • Mobile phones, office electronics, digital appliances • Health/Medical Equipment • Patient monitoring, MRI, infusion pumps, artificial organs • Industrial Automation • Supervisory Control and Data Acquisition (SCADA) systems for chemical and power plants • Manufacturing systems • Defense • Source of superiority in all weapon systems

  4. Trend 1: Data/Device Proliferation (By Moore’s Law)

  5. Trend 2: Integration at Scale (Isolation has cost!)

  6. Trend 3: Biological Evolution

  7. Confluence of Trends

  8. CPS Definition A CPS is a system in which: • information processing and physical processes are so tightly integrated that it is not possible to identify whether behaviors are the result of computations, physical laws, or both working together • where functionality and salient system characteristics are emerging through the interaction of physical and computational objects

  9. What are Cyber-Physical Systems? Based on Dr. Helen Gill from U.S. NSF: • Cyber–computation, communication, and control that are discrete, logical, and switched • Physical–natural and human-made systems governed by the laws of physicsandoperating in continuous time • Cyber-Physical Systems–systems in which the cyber and physical systems are tightly integrated at all scales and levels • Change from cyber merely appliquéd on physical Change from physical with COTS “computing as parts” mindset • Change from ad hoc to grounded, assured development • “CPS will transform how we interact with the physical world • just like the Internet transformed how we interact with one another.”

  10. What are Cyber-Physical Systems?

  11. Characteristics of Cyber-Physical Systems Some hallmark characteristics: • Cyber capability in every physical component • Networked at multiple and extreme scales • Complex at multiple temporal and spatial scales • Constituent elements are coupled logically and physically • Dynamically reorganizing/reconfiguring; “open systems” • High degrees of automation, control loops closed at many scales • Unconventional computational & physical substrates (such as bio, nano, chem, …) • Operation must be dependable, certified in some cases

  12. More features… • Some defining characteristics: • • Cyber – physical coupling driven by new demands and applications • • Cyber capability in every physical component • • Large scale wired and wireless networking • • Networked at multiple and extreme scales • • Systems of systems • • New spatial-temporal constraints • • Complex at multiple temporal and spatial scales • • Dynamically reorganizing/reconfiguring • • Unconventional computational and physical substrates (Bio? Nano?) • • Novel interactions between communications/computing/control • • High degrees of automation, control loops must close at all scales • • Large numbers of non-technical savvy users in the control loop • • Ubiquity drives unprecedented security and privacy needs • • Operation must be dependable, certified in some cases

  13. Why Cyber-Physical Systems? • • CPS allow us to add capabilities to physical systems • • By merging computing and communication with • physical processes, CPS brings many benefits: • • Safer and more efficient systems • • Reduce the cost of building and operating systems • • Build complex systems that provide new capabilities • • Technological and Economic Drivers • • The decreasing cost of computation, networking, and sensing • • Computers and communication are ubiquitous, enables national or • global scale CPSs • • Social and economic forces require more efficient use of national • infrastructure.

  14. CPS: Systems at Multiple Scales • A BMW is “now actually a network of computers” • [R. Achatz, Seimens, The Economist,Oct. 11, 2007] Credits to Dr. Helen Gill at NSF

  15. Transformation of Industries:Automotive • Current picture • Largely single-vehicle focus • Integrating safety and fuel economy (full hybrids, regenerative braking, adaptive transmission control, stability control) • Safety and convenience “add-ons” (collision avoidance radar, complex airbag systems, GPS, …) • Cost of recalls, liability; growing safety culture • Better future? • Multi-vehicle high-capacity cooperative control roadway technologies • Vehicular networks • Energy-absorbing “smart materials” for collision protection (cooperative crush zones?) • Alternative fuel technologies, “smart skin” integrated photovoltaics and energy scavaging, …. • Integrated operation of drivetrain, smart tires, active aerodynamic surfaces, … • Safety, security, privacy certification; regulatory enforcement • Time-to-market race Image thanks to Sushil Birla, GMC

  16. CPS in Multiple Domains Energy: smart appliances, buildings, power grid • Net-zero energy buildings • Minimize peak system usage • No cascading failures Healthcare: embedded medical devices and smart prosthetics; operating room of the future; integrated health care delivery • Patient records available at every point of care • 24/7 monitoring and treatment

  17. Transformation of Industries: Health Care and Medicine • National Health Information Network, Electronic Patient Record initiative • Medical records at any point of service • Hospital, OR, ICU, …, EMT? • Home care: monitoring and control • Pulse oximeters (oxygen saturation), blood glucose monitors, infusion pumps (insulin), accelerometers (falling, immobility), wearable networks (gait analysis), … • Operating Room of the Future (Goldman) • Closed loop monitoring and control; multiple treatment stations, plug and play devices; robotic microsurgery (remotely guided?) • System coordination challenge • Progress in bioinformatics: gene, protein expression; systems biology; disease dynamics, control mechanisms Images thanks to Dr. Julian Goldman, Dr. Fred Pearce

  18. IT Layer Transformation of Industries: Electric Power Grid • Current picture: • Equipment protection devices trip locally, reactively • Cascading failure: August (US/Canada) and October (Europe), 2003 • Better future? • Real-time cooperative control of protection devices • Or -- self-healing -- (re-)aggregate islands of stable bulk power (protection, market motives) • Ubiquitous green technologies • Issue: standard operational control concerns exhibit wide-area characteristics (bulk power stability and quality, flow control, fault isolation) • Context: market (timing?) behavior, power routing transactions, regulation Images thanks to William H. Sanders, Bruce Krogh, and Marija Ilic

  19. Smart Buildings

  20. Main Application Domains • A new underlying discipline • Abstracting from sectors to more general principles • Apply these to problems in new sectors • Build a new CPS community

  21. CPS Research Gaps

  22. Interaction and Coordination Changes in Cyber Changes in Physical • Precise interaction and coordination protocols • Hugely increased system size with controllable, stable behavior • Dynamic system architectures (nature and extent of interaction can be modified) • Adaptive, autonomic behavior • Self-descriptive, self monitoring system architecture for safety guarantees. • Rich time models instead of sequencing • Behavioral invariants instead of end results • Functionality through interactions of ongoing behaviors instead of sequence of actions • Component architectures instead of procedural abstraction • Concurrency models with partially ordered instead of linearly ordered event sets

  23. CPS Challenges • Societal challenge –CPS people can bet their lives on • Technical challenge –Systems that interface the cyber and physical, with predictable behavior • Where are the boundaries? • What are the limits to abstracting the physical world? • Are complex CPS too unpredictable? • Can we transcend overly conservative design?

  24. It is a new discipline! • Not simply robotics/motion control/vision –rather, design for certifiably dependable control of (complex) systems • Principles for bridging control, real-time systems, safety, security (not just a platform question –rather an interdisciplinary systems science issue) • Next generation system architectures, a recurring question: “What’s in a mode?” (cooperation/coordination? is the safety controller reachable?) • Next generation system ID (bridging machine learning with traditional system ID state estimation, stochasticsand uncertainty, purpose: reactive and predictive control) • Next generation fault tolerance (not just TMR: multicore/many-core, new forms of analytic and synthetic redundancy for FT, addressing interference and interaction, including separation/correlation reasoning) • Next generation real-time systems (coordinated, dynamic multisystem scheduling; property-preserving scheduling; timed networks, precision timing) • FPGAs and other reconfigurables; not just “software” –rather, next generation DA and PLs, system abstractions, software/system co-synthesis • Safe AND Secure, Resilient AND Capable

  25. NSF-Funded Topics

  26. Why is CPS Hard? Software Control Systems package org.apache.tomcat.session; import org.apache.tomcat.core.*; import org.apache.tomcat.util.StringManager; import java.io.*; import java.net.*; import java.util.*; import javax.servlet.*; import javax.servlet.http.*; /** * Core implementation of a server session * * @author James Duncan Davidson [duncan@eng.sun.com] * @author James Todd [gonzo@eng.sun.com] */ public class ServerSession { private StringManager sm = StringManager.getManager("org.apache.tomcat.session"); private Hashtable values = new Hashtable(); private Hashtable appSessions = new Hashtable(); private String id; private long creationTime = System.currentTimeMillis();; private long thisAccessTime = creationTime; private long lastAccessed = creationTime; private int inactiveInterval = -1; ServerSession(String id) { this.id = id; } public String getId() { return id; } public long getCreationTime() { return creationTime; } public long getLastAccessedTime() { return lastAccessed; } public ApplicationSession getApplicationSession(Context context, boolean create) { ApplicationSession appSession = (ApplicationSession)appSessions.get(context); if (appSession == null && create) { // XXX // sync to ensure valid? appSession = new ApplicationSession(id, this, context); appSessions.put(context, appSession); } // XXX // make sure that we haven't gone over the end of our // inactive interval -- if so, invalidate and create // a new appSession return appSession; } void removeApplicationSession(Context context) { appSessions.remove(context); } /** * Called by context when request comes in so that accesses and * inactivities can be dealt with accordingly. */ void accessed() { // set last accessed to thisAccessTime as it will be left over // from the previous access lastAccessed = thisAccessTime; thisAccessTime = System.currentTimeMillis(); } void validate() Crosses Interdisciplinary Boundaries • Disciplinary boundaries need to be realigned • New fundamentals need to be created • New technologies and tools need to be developed • Education need to be restructured

  27. Heterogeneity and Modeling Languages Computing System Composition Domain Physical System Composition Domain Physical instantiation Physical system characteristics Logical specification (source code) • “Cyber” Models • Modeling Languages • Structure • Behaviors • Mathematical Domains • traces/state variables • no reference semantics or “semantic units” • Physical Models • Modeling Languages • Structure • Behaviors • Physical Laws • Physical variables • Physical Units

  28. Goal: Heterogeneous and Composable Design Flows Component Integration System Modeling Validation Verification Target Analysis Component Implement. Comp/Platf Modeling Controller Synthesis System Analysis Code Synthesis Validation Verification Target Analysis Platform Modeling Platform Platform Models Platform Models Interaction/Fault mgmt/… Models Test Vectors Integrated CodeModel Download Download Plant Model Valid Code/Model Integrated Model Valid Model Code/Model System Model Component Model Partial Model Component Code Valid Code/Model Design Feedback Valid Model Design Feedback Design Feedback Design Feedback Design Feedback Matlab SimulatorCheckmate SAL Teja UP Reach Charon R-T Workshop ECSL/GME Kestrel Ptolemy Simulink Stateflow ECSL/GME Ptolemy PENTIUM/ TAO/ BOLD-STROKE ESML/GME Honeywell CMU ESML/GME Honeywell TimeWeaver AIRES SWRI/ASC TimeWiz AIRES SWRI/ASC ESML/GME MPC555/ OSEK PENTIUM/ QNX Checkmate Charon UML/RoseESML/GME Manual Checkmate AIRES WindView AIRES Avionics Design Flow Automotive Design Flow BACKPLANE Open Tool Integration Framework • Integrated Physical/Computational Modeling and Analysis • Generative Programming • Hybrid System Analysis • Customizable (metaprogrammable) modeling tools and generators • Open tool integration framework; configurable design flow and composable design environments Metagenerators MIC/GENKestrel MetamodelComposition & Validation GME/Meta Metamodeling UML/OCL GME/Meta

  29. Common Operating Picture ESO ESO COP Warfighter Interface Mission Planning & Prep Situation Understanding Battle Mgmt & Execution Sensor Fusion Target Recognition Integrated Sustainment Embedded Training EPLRS SINCGARS VHF Link 4A Link 11 Link 16 WIN T L COP L COP L COP L COP Common Services Information Management Computing and Networking HQ HQ WNW WNW Change in CPS Applications: Networked Systems Future Systems in the Field • Heterogeneous CPS • Open Dynamic Architecture - heterogeneous networking - heterogeneous components • Very high level concurrency with complex interactions • Challenge: understanding system interactions and analyzing (bounding) behavior Standards-Based Open Software Architecture Information Management Joint Common Database Distributed Database Information Layer Interoperable export DB Synchronization FIOP Interoperability Reachback HHQ XX Battle Command UE/HQ WIN-T Hierarchical Ad-Hoc Network stubnet JTRS Data Images Voice Video UGS Vetronics EO/IR EO/IR SAR/MTI Common Vehicle Subsystems Networked Command Platform

  30. CPS – Concept Map

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