Week 1 Lectures 1Introduction to CPS

Instructor: Prof. Fei Hu, ECE, Univ of Alabama

Computing Evolution

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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’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

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 DefinitionA 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

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 physicsand

operating 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.”

What are Cyber-Physical Systems?

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

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

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:o • Safer and more efficient systemso • Reduce the cost of building and operating systemso • Build complex systems that provide new capabilities • Technological and Economic Driverso • The decreasing cost of computation, networking, and sensingo • Computers and communication are ubiquitous, enables national oro global scale CPSso • Social and economic forces require more efficient use of nationalo infrastructure.

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

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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 raceImage thanks to Sushil Birla, GMC

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

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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

Transformation of Industries: Health Care and Medicine

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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

IT Layer

Images thanks to William H. Sanders, Bruce Krogh, and Marija Ilic

Transformation of Industries: Electric Power Grid

Smart Buildings

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

CPS Research Gaps

Interaction and Coordination

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

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.

Changes in Cyber Changes in Physical

CPS Challenges

Societal challenge –CPS people can bet their lives on Technical challenge –Systems that interface the cyber and physical,

with predictable behavior

o Where are the boundaries?o What are the limits to abstracting the physical world?o Are complex CPS too unpredictable?o Can we transcend overly conservative design?

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

NSF-Funded Topics

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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()

Software Control Systems

Crosses Interdisciplinary Boundaries

Why is CPS Hard?

• 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

Heterogeneity and Modeling Languages

ComputingSystemCompositionDomain

PhysicalSystem CompositionDomain

Physicalinstantiation

Logical specification(source code)

Physical systemcharacteristics

• Physical Models• Modeling Languages

– Structure– Behaviors

• Physical Laws– Physical variables– Physical Units

• “Cyber” Models• Modeling Languages

– Structure– Behaviors

• Mathematical Domains– traces/state variables– no reference semantics

or “semantic units”

Modeling ControllerSynthesis

System Analysis

CodeSynthesis

ValidationVerification

TargetAnalysis

Platform

SimulinkStateflowECSL/GMEPtolemy

MatlabSimulatorCheckmateSALTejaUP ReachCharon

R-TWorkshopECSL/GMEKestrelPtolemy

CheckmateCharon

WindViewAIRES

CheckmateAIRES

MPC555/OSEKPENTIUM/QNX

Platform Models

Plant Model Integrated Model

Design Feedback

Valid Model Code/Model

Test Vectors

Valid Code/Model

Design Feedback

Download

Valid Model

BACKPLANE Open Tool Integration Framework

Metamodeling

MetamodelComposition &Validation

Metagenerators

UML/OCLGME/Meta

GME/Meta

MIC/GENKestrel

Comp/PlatfModeling

ComponentImplement.

System Modeling

ComponentIntegration

ValidationVerification

TargetAnalysis Platform

UML/RoseESML/GME

ManualESML/GMEHoneywellCMU

ESML/GMEHoneywellTimeWeaver

AIRESSWRI/ASCTimeWiz

AIRESSWRI/ASCESML/GME

PENTIUM/TAO/BOLD-STROKE

Platform Models

Partial Model System Model

Design Feedback

Component Code

Interaction/Fault mgmt/… Models

Valid Code/Model

Design Feedback

DownloadIntegrated CodeModelComponent Model

Design Feedback

• 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

Automotive Design Flow Avionics Design Flow

Goal: Heterogeneous and Composable Design Flows

Change in CPS Applications: Networked Systems

COP

Distributed DatabaseInformation LayerInteroperableexport

WIN-T

UE/HQESO

Standards-BasedOpen Software

Architecture

L COP L COP L COP L COP

Common OperatingPicture

HQESO

EPLRSSINCGARSVHF

Link 4ALink 11Link 16WIN T

Hierarchical Ad-Hoc Network

DataImagesVoiceVideo

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UGS

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HHQ

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Joint CommonDatabase

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DB Synchronization

Information Management

PlatformNetworked Command

InteroperabilityFIOP

Foundation Infrastr uctur e – (e.g, Network with: COMS EC C rypto Services, Mobility Enhancements, IP Network Appliqué's, )Operating System

Operating System Abst raction Ser vices

Network Infrastructure Services

SOS Framework Ser vicesCOTSND I

SOS Operations ServicesInfor mation Assurance (IA) Network Mgt (NM ) Infor mation Dissemination M gt (IDM)

Applicat io n Program Interfaces – Common Services

Vehicle Ap plicat ions Mission Applicat ions Business App licat ions Administration Applicatio ns

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COTSNDI

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Foundation Infrastr uctur e – (e.g, Network with: COMS EC C rypto Services, Mobility Enhancements, IP Network Appliqué's, )Operating System

Operating System Abst raction Ser vices

Network Infrastructure Services

SOS Framework Ser vicesCOTSND I

SOS Operations ServicesInfor mation Assurance (IA) Network Mgt (NM ) Infor mation Dissemination M gt (IDM)

SOS Operations ServicesInfor mation Assurance (IA) Network Mgt (NM ) Infor mation Dissemination M gt (IDM)

Applicat io n Program Interfaces – Common Services

Vehicle Ap plicat ions Mission Applicat ions Business App licat ions Administration Applicatio ns

Human Machin e Interface /Mach ine-Machine Interface

COTSNDI

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JTRS

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

CPS – Concept Map