Transcript 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)
• Large computers to execute big
data processing applications
– Desktop computing & Internet (80’s90’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
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weapon systems
Trend 1: Data/Device Proliferation (By Moore’s Law)
Trend 2: Integration at Scale (Isolation has cost!)
Trend 3: Biological Evolution
Confluence of Trends
CPS Definition
A CPS is a system in which:
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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
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where functionality and salient system characteristics are emerging
through the interaction of physical and computational objects
What are Cyber-Physical Systems?
Based on Dr. Helen Gill from U.S. NSF:
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Cyber–computation, communication, and control that are discrete, logical, and
switched

Physical–natural and human-made systems governed by the laws of physicsand
operating in continuous time
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Cyber-Physical Systems–systems in which the cyber and physical systems are tightly
integrated at all scales and levels
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Change from cyber merely appliquéd on physical Change from physical with COTS
“computing as parts” mindset
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Change from ad hoc to grounded, assured development
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“CPS will transform how we interact with the physical world

just like the Internet transformed how we interact with one another.”
What are Cyber-Physical Systems?
Characteristics of Cyber-Physical Systems
Some hallmark characteristics:
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Cyber capability in every physical component
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Networked at multiple and extreme scales
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Complex at multiple temporal and spatial scales
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Constituent elements are coupled logically and physically
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Dynamically reorganizing/reconfiguring; “open systems”
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High degrees of automation, control loops closed at many scales
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Unconventional computational & physical substrates (such as bio, nano,
chem, …)
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Operation must be dependable, certified in some cases
More features…
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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
Why Cyber-Physical Systems?
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• CPS allow us to add capabilities to physical systems
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• By merging computing and communication with
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physical processes, CPS brings many benefits:
o
• Safer and more efficient systems
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• Reduce the cost of building and operating systems
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• Build complex systems that provide new capabilities
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• Technological and Economic Drivers
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• The decreasing cost of computation, networking, and sensing
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• Computers and communication are ubiquitous, enables national or
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global scale CPSs
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• Social and economic forces require more efficient use of national
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infrastructure.
CPS: Systems at Multiple Scales
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A BMW is “now actually a network of computers”
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[R. Achatz, Seimens, The Economist,Oct. 11, 2007]
Credits to Dr.
Helen Gill at NSF
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Transformation of Industries:
Automotive
Current picture
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Largely single-vehicle focus
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Integrating safety and fuel economy (full hybrids,
regenerative braking, adaptive transmission control,
stability control)
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Safety and convenience “add-ons” (collision avoidance
radar, complex airbag systems, GPS, …)
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Cost of recalls, liability; growing safety culture
Better future?
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Multi-vehicle high-capacity cooperative control
roadway technologies
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Vehicular networks
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Energy-absorbing “smart materials” for collision
protection (cooperative crush zones?)
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Alternative fuel technologies, “smart skin” integrated
photovoltaics and energy scavaging, ….
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Integrated operation of drivetrain, smart tires, active
aerodynamic surfaces, …
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Safety, security, privacy certification; regulatory
enforcement
Time-to-market race
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Image thanks to Sushil Birla, GMC
CPS in Multiple Domains
Energy: smart appliances, buildings, power grid
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Net-zero energy buildings
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Minimize peak system usage
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No cascading failures
Healthcare: embedded medical devices and smart prosthetics; operating room of
the future; integrated health care delivery
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Patient records available at every point of care
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24/7 monitoring and treatment
Transformation of Industries:
Health Care and Medicine
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National Health Information Network, Electronic
Patient Record initiative
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Home care: monitoring and control
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Pulse oximeters (oxygen saturation), blood glucose
monitors, infusion pumps (insulin), accelerometers
(falling, immobility), wearable networks (gait
analysis), …
Operating Room of the Future (Goldman)
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Medical records at any point of service
Hospital, OR, ICU, …, EMT?
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
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Images thanks to Dr. Julian Goldman, Dr. Fred Pearce
Transformation of Industries:
Electric Power Grid
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Current picture:
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Equipment protection devices trip
locally, reactively
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Cascading failure: August (US/Canada)
and October (Europe), 2003
Better future?
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Real-time cooperative control of
protection devices
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Or -- self-healing -- (re-)aggregate
islands of stable bulk power
(protection, market motives)
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Ubiquitous green technologies
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Issue: standard operational control
concerns exhibit wide-area
characteristics (bulk power stability
and quality, flow control, fault
isolation)
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Context: market (timing?) behavior,
power routing transactions, regulation
Images thanks to William H. Sanders, Bruce Krogh, and Marija Ilic
IT Layer
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Smart Buildings
Main Application Domains
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A new underlying
discipline
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Abstracting from sectors
to more general
principles
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Apply these to problems
in new sectors
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Build a new CPS
community
CPS Research Gaps
Interaction and Coordination
Changes in Cyber
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Rich time models instead of
sequencing
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Behavioral invariants instead
of end results
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Functionality through
interactions of ongoing
behaviors instead of sequence
of actions
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Component architectures
instead of procedural
abstraction
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Concurrency models with
partially ordered instead of
linearly ordered event sets
Changes in Physical
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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.
CPS Challenges
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Societal challenge –CPS people can bet their lives on
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Technical challenge –Systems that interface the cyber and physical, with
predictable behavior
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Where are the boundaries?
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What are the limits to abstracting the physical world?
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Are complex CPS too unpredictable?
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Can we transcend overly conservative design?
It is a new discipline!
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Not simply robotics/motion control/vision –rather, design for certifiably dependable control of (complex)
systems
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Principles for bridging control, real-time systems, safety, security (not just a platform question –rather an
interdisciplinary systems science issue)
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Next generation system architectures, a recurring question: “What’s in a mode?”
(cooperation/coordination? is the safety controller reachable?)
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Next generation system ID (bridging machine learning with traditional system ID state estimation,
stochasticsand uncertainty, purpose: reactive and predictive control)
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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)
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Next generation real-time systems (coordinated, dynamic multisystem scheduling; property-preserving
scheduling; timed networks, precision timing)
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FPGAs and other reconfigurables; not just “software” –rather, next generation DA and PLs, system
abstractions, software/system co-synthesis
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Safe AND Secure, Resilient AND Capable
NSF-Funded Topics
Why is CPS Hard?
Software
Control
Systems
package org. apac he.to mcat. sessi on;
import org.a pach e.tom cat.c ore.* ;
import org.a pach e.tom cat.u til.S tring Mana ger;
import java. io.* ;
import java. net. *;
import java. util .*;
import javax .ser vlet. *;
import javax .ser vlet. http. *;
/**
* Core impl emen tatio n of a ser ver s essi on
*
* @aut hor J ames Dunc an Da vidso n [du ncan @eng. sun.c om]
* @aut hor J ames Todd [gon zo@en g.sun .com ]
*/
public class Ser verSe ssion {
pri vate Stri ngMan ager sm =
Stri ngMa nager .getM anage r("or g.ap ache. tomca t.ses sion" );
pri vate Hash table valu es = new H asht able( );
pri vate Hash table appS essio ns = new Hasht able( );
pri vate Stri ng id ;
pri vate long crea tionT ime = Syst em.c urren tTime Milli s();;
pri vate long this Acces sTime = cr eati onTim e;
pri vate long last Acces sed = crea tion Time;
pri vate int inact iveIn terva l = - 1;
Ser verSe ssio n(Str ing i d) {
this .id = id;
}
pub lic S trin g get Id() {
retu rn i d;
}
pub lic l ong getCr eatio nTime () {
retu rn c reati onTim e;
}
pub lic l ong getLa stAcc essed Time( ) {
retu rn l astAc cesse d;
}
pub lic A ppli catio nSess ion g etApp lica tionS essio n(Con text cont ext,
bool ean creat e) {
Appl icat ionSe ssion appS essio n =
(App licat ionSe ssion )appS essi ons.g et(co ntext );
if ( appS essio n == null && cr eate ) {
// X XX
// s ync t o ens ure v alid?
appS essio n = n ew Ap plica tion Sessi on(id , thi s, co ntex t);
appS essio ns.pu t(con text, app Sessi on);
}
// X XX
// m ake sure that we ha ven't gon e ove r the end of ou r
// i nact ive i nterv al -- if s o, i nvali date and c reate
// a new appS essio n
retu rn a ppSes sion;
}
voi d rem oveA pplic ation Sessi on(Co ntex t con text) {
appS essi ons.r emove (cont ext);
}
/**
* Calle d by cont ext w hen r eques t co mes i n so that acces ses and
* inact ivit ies c an be deal t wit h ac cordi ngly.
*/
voi d acc esse d() {
// s et l ast a ccess ed to this Acce ssTim e as it wi ll be lef t ove r
// f rom the p revio us ac cess
last Acce ssed = thi sAcce ssTim e;
this Acce ssTim e = S ystem .curr entT imeMi llis( );
}
voi d val idat e()
Crosses Interdisciplinary Boundaries
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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
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Heterogeneity and Modeling Languages
Computing
System
Composition
Domain
Physical
instantiation
Logical
specification
(source code)
Physical
system
characteristics
• “Cyber” Models
• Modeling Languages
– Structure
– Behaviors
• Mathematical Domains
– traces/state variables
– no reference semantics
or “semantic units”
Physical
System
Composition
Domain
• Physical Models
• Modeling Languages
– Structure
– Behaviors
• Physical Laws
– Physical variables
– Physical Units
Goal: Heterogeneous and
Composable Design Flows
Modeling
Controller
Synthesis
System
Analysis
Code
Synthesis
Validation
Verification
Target
Analysis
Platform
Comp/Platf
Modeling
Component
Implement.
System
Modeling
Valid Model
Target
Analysis
Platform
Interaction/Fault mgmt/… Models
Test Vectors
Integrated Model
Validation
Verification
Platform Models
Platform Models
Plant Model
Component
Integration
Code/Model
Valid Code/Model
Download
Component Model
Partial Model
System Model
Integrated Code
Model
Component Code
Download
Valid Code/Model
Design Feedback
Valid Model
Design Feedback
Design Feedback
Design Feedback
Design Feedback
Simulink
Stateflow
ECSL/GME
Ptolemy
Checkmate
Charon
BACKPLANE
Metagenerators
Metamodel
Composition &
Validation
Metamodeling
Matlab
Simulator
Checkmate
SAL
Teja
UP Reach
Charon
R-T
Workshop
ECSL/GME
Kestrel
Ptolemy
Checkmate
AIRES
WindView
AIRES
MPC555/
OSEK
PENTIUM/
QNX
Automotive Design Flow
Open Tool Integration Framework
MIC/GEN
Kestrel
GME/Meta
UML/OCL
GME/Meta
UML/Rose
ESML/GME
Manual
ESML/GME
Honeywell
CMU
ESML/GME
Honeywell
TimeWeaver
AIRES
SWRI/ASC
TimeWiz
AIRES
SWRI/ASC
ESML/GME
PENTIUM/
TAO/
BOLDSTROKE
Avionics Design Flow
• 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
Change in CPS Applications:
Networked Systems
Future Systems in the Field
ESO
User Management
Software Upgrade
Remote Troubleshoot
Remote Server Mgt
Software Distribution
Software Install
System Management
Administration Applications
Disposal
Transportation
Personnel
Logistics
Facilities
Procurement
Engineering
Integrated Sustainment
Business Applications
Embedded Mission Training
Battle Command
Target Recognition
Sensor Fusion
Mission Planning & Prep
Mission Applications
Situation Understanding
Electrical
Hydraulic
Propulsion
Fuel Sys
Controls
Distributed Database
Information Layer
Health Management
Vehicle Applications
Interoperable
export
HQ
COTS
NDI
Application Program Interfaces – Common Services
SOS Operations Services
Information Assurance (IA)
Network Mgt (NM)
Information Dissemination Mgt (IDM)
SOS Framework Services
COP
Network Infrastructure Services
COTS
NDI
Operating System Abstraction Services
Operating System
Foundation Infrastructure – (e.g, Network with: COMSEC Crypto Services, Mobility Enhancements, IP Network Appliqué's, )
Warfighter Interface
XX
Embedded Training
Integrated Sustainment
Target Recognition
Sensor Fusion
EPLRS
Link 4A
SINCGARS Link 11
VHF
Link 16
WIN T
Reachback
Battle Mgmt & Execution
Interoperability
Situation Understanding
FIOP
Mission Planning & Prep
DB Synchronization
HHQ
• Heterogeneous CPS
Human Machine Interface /Machine-Machine Interface
Navigation
Joint Common
Database
Standards-Based
Open Software
Architecture
Information Management
Common Operating
Picture
Common Services
Battle
Command
Information Management
• Open Dynamic
Architecture
- heterogeneous
networking
- heterogeneous
components
Computing and Networking
ESO
HQ
UE/HQ
WIN-T
• Very high level
concurrency with
complex interactions
Hierarchical Ad-Hoc Network
WNW
WNW
stubnet
EO/IR
JTRS
Data
Images
Voice
Video
UGS
EO/IR
SAR/MTI
Networked Command
L COP
L COP
Vetronics
L COP
Common Vehicle
Subsystems
L COP
Platform
• Challenge: understanding
system interactions
and analyzing (bounding)
behavior
CPS – Concept Map