Cyber Physical Systems Seminar - Old Dominion...

Cyber Physical Systems Seminar� �

CS 795/895 - Spring 2013 �

Tamer Nadeem �Dept. of Computer Science�

Lec #1: Course Introduction �

Spring 2013 CS 795/895 - Cyber Physical System Seminar

Course Logistics


• Timings: Tue 9:30am to 10:45am 1:30pm to 2:45pm

• Location: ECSB 2120

• Instructor: Tamer Nadeem Ph.D from Univ. of Maryland, 2006

Research in Networks, Dist Sys, Mobile Comp.

Email: [email protected]

Office: E&CS Building 3204

• Office Hours: Tue 11:00am to 2:00pm, or by appointment

Welcome to CS 795/895


• Prerequisites: No Specific Requirements

• Grading: • Attendance/Peer Evaluation 30%

• Presentation 40%

• Discussion Participation 30%



• Class Webpage: • http://www.cs.odu.edu/~nadeem/classes/cs795-

CPS-S13/

• Please check course website frequently

• Make up classes: • Will be occasionally necessary due to travel

• Fixed schedule versus case by case basis?



Course Overview


This Course

• This course examines a new class of computational systems called Cyber-Physical Systems.

• Cyber physical systems are integrations of computation and communication with physical processes.

• Such systems have the potential to provide far-reaching benefits in addressing some of the toughest problems we face as a society.

• Reducing healthcare costs, minimizing traffic congestion, and constructing zero-net energy buildings.


Course Responsibilities

• This is a seminar course à involves reading research papers

• Your Responsibilities •  Critically reading and analyzing research papers •  Presenting papers •  Writing summaries of papers read

• Outcomes: •  Basic understanding of a new and up-coming field, Cyber Physical

Systems •  Learn to read research papers •  Learn to lead discussion + communicate ideas in a clear fashion


Course Structure

• No Exam •  Neither mid-term no final.

• 2-3 Paper presentation •  Individual student •  30min presentation

• Participation/Discussion •  Prepare summaries for paper presented by others •  Prepare list of questions/ideas/comments (at least 3 questions) for

discussion


Class Participation / Presentation, ��


Class Participation

• Ask lots of questions. Period. •  I strongly encourage you to ask, disagree, debate

• Class presentation •  You present 2-3 paper (30 minutes) •  Check for list of paper

http://www.cs.odu.edu/~nadeem/classes/cs795-CPS-S13/papers.html •  Papers are categorized into different topics (CPS Introduction,

Applications/Systems, Underlying Communication/Technologies, Real-time/Control, Sensing, Security, etc.

•  Pick 5 papers (at least one from each topic)

• Email me your choice of paper. Make sure the subject line has the string [CS795-CPS-S13]

• Due Date: Thursday, January 17, 2013


Thoughts on Reading Papers

• Know why you are reading the paper • Reading for absorbing concepts

•  Read fully, think, reread, ask, challenge

• Reading for excitement •  Read initial parts, don’t try to understand everything, get a feel

• Reading for problem identification •  Read the problem carefully

• Reading to discriminate •  Read solution, ensure your ideas different, analyze performance

Most Important


Paper Presentation

• 30 minutes presentation each session (tentatively) •  Slides need not be a section by section copy of the paper •  Should cover (at least):

•  What is the problem being address? •  Goal of the paper

•  Why should we care? •  Motivation

•  What is the approach? •  Details of the approach •  Experimental setup

•  What are main results? •  Did they achieve what they set out to do?

•  Related work •  Future Work: Where do we go from here?

•  Your opinion on the paper and what can be done to improve it

• This will be followed by discussion of the paper in class


Paper Summary

• We will study about one paper in each session.

• Students are required to send a critical review of the relevant papers by 9am on the day of class.

• Review should be 1-2 pages long, in plain text

• The review must be transmitted as a plain-text email to the instructor with ”[CS795-CPS-S13]” in the subject line.


Paper Summary

• Summary should cover: • Problem being addressed --- a short paragraph at most • Motivation for the importance of the problem as stated in

the paper • Solution approach --- one/two sentences • Pros and Cons of the paper

•  Focus on technical aspects ( problem formulation, solution, experiments and analysis)

• What would you do differently ? Why ? --- (think outside the box, justify)


Class Discussion

• For each class students are expected to have read the papers and be prepared to discuss them

•  The goal will be to ask questions of class-mates as a way for the group to get a deeper understanding of the topics

• Example: Biometric Bracelet Lets a Medical Device Recognize its Wearer - A device that measures its wearer’s unique electric impedance could make medical procedures more convenient. (http://www.technologyreview.com/news/428755/biometric-bracelet-lets-a-medical-device-recognize-its-wearer/)

•  Discussion: •  What is authentication? •  Why is authentication useful in wearable and implantable

medical devices? •  If you have a 90% success rate -- what are the implications? Is it

good or bad?


Questions?


INTRODUCTION


Computing Evolution

• 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

• Ubiquitous computing (00’s) •  Numerous computing devices in every place/

person •  “Invisible” part of the environment •  Millions for desktops vs. billions for embedded

processors

• Cyber Physical Systems (10’s)


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

Sensors

Medical

Industrial Transportation

Smart Spaces


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


Trend 3: Biological Evolution

TOO SLOW! The exponential proliferation of embedded devices (afforded by Moore’s

Law) is not matched by a corresponding increase in human ability to consume information!

Increasing autonomy (human out of the loop)


Confluence of Trends

#1 Data/Device Proliferation

(by Moore’s Law)

#2 Integration at

Scale (Isolation has cost)

#3 Autonomy

(Human are not getting faster)

Distributed Cyber-Physical

Information Distillation and

Control Systems


What are Cyber-Physical Systems?

• Cyber – computation, communication, and control that are discrete, logical, and switched

• Physical – natural and human-made systems governed by the laws of physics and operating in continuous time

• Cyber-Physical Systems – systems in which the cyber and physical systems are tightly integrated at all scales and levels

“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?

• Cyber-physical systems (CPSs) are physical and engineered systems whose operations are monitored, coordinated, controlled and integrated by a computing and communication core.

• Convergence of computation, communication, information, and control


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.


Characteristics of Cyber-Physical Systems

• 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


Characteristics Cyber-Physical Systems

• What they are not: •  Not desktop computing

•  Not traditional, post-hoc embedded/real-time systems

•  Not today’s sensor nets

• Goals of a CPS research program •  A new science for future engineered and monitored/controlled

physical systems (10-20 year perspective)

•  Physical and cyber (computing, communication, control) design that is deeply integrated


Application Domains of Cyber-Physical Systems •  Healthcare

•  Medical devices •  Health management networks

•  Transportation •  Automotive electronics •  Vehicular networks and smart highways •  Aviation and airspace management •  Avionics •  Railroad systems

•  Process control •  Large-scale Infrastructure

•  Physical infrastructure monitoring and control •  Electricity generation and distribution •  Building and environmental controls

•  Defense systems •  Tele-physical operations

•  Telemedicine •  Tele-manipulation


Application Domains of Cyber-Physical Systems


Example 1: Automotive Systems


Example 2: Manned and Unmanned Ariel Vehicles


Example 3: Health Care and Medicine


Example 4: Electric Power Grid


Example 5: Robotics


Example 6: Smart Buildings •  Today:

•  Building operation consumes 40% of U.S. energy and 71% of the electricity, 12% of the water, and rapidly increasing quantities of land. Building demolition, construction and renovation generate over 35% of non‐industrial waste.

•  Future: •  Energy conserving automation for: air quality, lighting, plumbing,

water efficiency: stormwater, graywater, blackwater, household usage , irrigation, daylighting

•  Co‐generation (heat/energy), home‐based energy generation •  Controllable building materials and systems (e.g., smart windows); heat,

light, water fixtures and plumbing, •  Cross‐system cooperative networked real‐time configuration and control


Example 7: Everyday Objects


CPS Grand Visions

• Near-zero automotive traffic fatalities, injuries minimized, and significantly reduced traffic congestion and delays

• Blackout-free electricity generation and distribution • Perpetual life assistants for busy, older or disabled people • Extreme-yield agriculture • Energy-aware buildings • Location-independent access to world-class medicine • Physical critical infrastructure that calls for preventive

maintenance • Self-correcting and self-certifying cyber-physical systems for

“one-off” applications • Reduce testing and integration time and costs of complex

CPS systems by one to two orders of magnitude


Key Trends in Systems

•  System complexity •  Increasing functionality •  Increasing integration and networking interoperability •  Growing importance and reliance on software •  Increasing number of non-functional constraints

•  Nature of tomorrow’s systems •  Dynamic, ever-changing, dependable, high-confidence •  Self-*(aware, adapting, repairing, sustaining)

•  Cyber-Physical Systems everywhere, used by everyone, for everything

•  Expectations: 24/7 availability, 100% reliability, 100% connectivity, instantaneous response, remember everything forever, ...

•  Classes: young to old, able and disabled, rich and poor, literate and illiterate, ...

•  Numbers: individuals, special groups, social networks, cultures, populations, ...


Why CPS is Significant?

• Building systems that integrate computational and physical objects requires new systems science foundations.

•  Fusion of physical and computational sciences • Expected share of value of embedded computing

components in the next five years: •  Automotive and airspace systems 30-40% •  Health/Medical equipment 33% •  Industrial automation 22% •  Telecommunications 37% •  Consumer electronics and Intelligent Homes 41%

• CPS are the basic engine of innovation for a broad range of industrial sectors.

•  This is the technology that transforms products, creates new markets and disrupts the status-quo.


Why is CPS Hard?


Software, the Great Enabler

• Good news: anything is possible in software!

• Bad news: anything is possible in software!

•  It is the software that affects system complexity and also cost.

• Software development stands for 70-80% of the overall development cost for some embedded systems.


Embedded Software - Goals

•  Trustworthy: should not fail (or at least gracefully degrade), and safe to use. The existence of embedded software becomes apparent only when an embedded system fails.

•  Context- and Situation-Aware: should be able to sense people, environment, and threats and to plan/notify/actuate responses to provide real-time interaction with the dynamically changing physical environment with limited resources.

•  Seamless Integration: should be invisible at multiple levels of a hierarchy: home systems, metropolitan systems, regional systems, and national systems.

•  Validation and Certification: should be able to assure that embedded systems work correctly with respect to functional and nonfunctional requirements with high degree of certainty.


Software Research Challenges

• Need new notions of “correctness” and “compositionality” •  Factor in context of use, unpredictable environment, emergent

properties, dynamism, interoperability •  What are desired properties of and metrics for both software and

systems (e.g., resource use)

• Need new formal models and logics for reasoning about CPS •  Uncertainty, physical world, mental model of human user •  Hybrid automata, probabilistic logic

• Need new verification/analysis tools usable by domain engineers

•  Push-button, lightweight •  Integrated with rest of system development process


Interaction Complexity

• We know how to design and build components.

• Systems are about the interactions of components. •  Some interactions are unintended and unanticipated

•  Interoperability •  Emerging behaviors

•  “Normal Accidents”, an influential book by Charles Perrow (1984) •  One of the Three Mile Island investigators •  And a member of recent NRC Study “Software for Dependable

Systems: Sufficient Evidence?” •  A sociologist, not a computer scientist

• Posits that sufficiently complex systems can produce accidents without a simple cause due to

•  interactive complexity and tight coupling


Potential Accidental Systems

•  Many systems created without conscious design by interconnecting separately designed components or separate systems.

•  Unsound composition: the interconnects produce desired behaviors most of the time

•  Feature interactions: promote unanticipated interactions, which could lead to system failures or accidents

•  Modes of interactions •  Among computation components •  Through share resources •  Through the controlled plant (e.g., the patient) o Through human operators •  Through the larger Environment

•  E.g., Medical Device PnP could facilitate the construction of accidental systems

•  Blood pressure sensor connected to bed height, resulting in the criticality inversion problem


Example: Ariane 5


Example: Auto Recalls


More Auto Recalls


Example: Mars PATH Finder

Incompatible Cross Domain Protocols - Pathological Interaction between RT and

synchronization protocols Pathfinder caused repeated resets, nearly doomed the mission


Example: Medical Devices

•  25% of all device recalls are bug related

•  1.5M devices recalled in last 8 years

•  Between 1999-2005 the number of recalls due to software problems doubled

•  Example: •  In 2011 Moog Medical ambulatory infusion pump recall “... due

to a software anomaly which leads to software Error Code 45 (EC45), resulting in a shutdown of the pump. This failure may result in a delay or interruption of therapy, which could result in serious injury and/or death.”


Societal Challenge

• How can we provide people and society with cyber-physical systems that they can trust their lives on?

•  Partial list of complex system failures •  Denver baggage handling system

($300M) •  Power blackout in NY (2003) •  Ariane 5 (1996) •  Mars Pathfinder (1997) •  Mars Climate Orbiter ($125M,1999) •  The Patriot Missile (1991) •  USS Yorktown (1998) •  Therac-25 (1985-1988) •  London Ambulance System (£9M,

1992) •  Pacemakers (500K recalls during

1990-2000) •  Numerous computer-related incidents

wth commer aircraft (http://www.rvs.uni-bielefeld.de/ publications/compendium/ incidents_and_accidents/index.html)

Trustworthy:

Reliable, secure, privacy-preserving, usable, etc.


CPS Challenges • Development of high-confidence CPS requires

•  System Composition •  Building System of Systems •  “Grand Theme” of CPS •  Need to ensure that composed system is safe •  Two approach: System-level composition, Co-design

•  Theory Modeling and Analysis •  Complexity of CPS high enough that mathematical model based

engineering essential •  E.g.: Hybrid Systems --- that consider both discrete and continuous

time dynamics of underlying components of CPS


CPS Challenges

•  Programming Abstractions •  Functional behavior of CPS should be separated from

requirements of timeliness, QoS, dependability etc. •  Model-based development : Functionality should be stated using

models --- state machines, dataflow graphs ---- and code for the system should be generated automatically

•  Advantages: (1) easy to share designs, (2) detailed knowledge of target platform not needed


CPS Challenges

• Architecture •  CPS are Society-scale systems

•  Reliability and Scalability are essential •  New network protocols needed for connecting such large-scale,

heterogeneous system of systems •  Network delays minimized •  Resource visualization essential •  Real-time, group communication methods are needed

•  Fault tolerance has to be built in •  Given uncertainties in the underlying physical process

•  Big Data •  All the data collected from the sensor-actuator systems in CPS needs to be

processed efficiently •  Techniques needed to ensure the results can be visualized easily by users


CPS Challenges

• Safety, Security and Privacy •  Primary aim of all CPS design

•  Ensure no harm comes to the underlying physical process •  Ensuring security/privacy crucial for safety

•  CPS are deployed in missions critical settings •  Collect sensitive data and can actuate changes in the physical process •  Composing individually secure systems into a composed system might

not be good enough •  Computation and Energy limitations •  Utilizing properties from underlying physical process might be a

way to proceed


CPS Challenges

• Validation and Certification •  Given complexity of CPS, it is essential to certify them based on

scientific foundations •  Two step process:

•  Design has right properties •  Implementation conforms to the design

•  Tools required for: •  Eliciting models from requirements •  Validating models that meet right properties •  Metrics for validating implementation w.r.t. requirements

•  Essential for quantifying reliability, liability, risk of such systems •  Makes them insurable


It is about reinventing...

• Electric grid • Transportation • Healthcare • Building energy management • Aerospace • Manufacturing • Agriculture • Mining •  ...


CPS Community Activities

•  High Confidence Medical Device Software and Systems (2005) (2007) (2011)

•  High Confidence Software Platform for Cyber Physical Systems •  NSF Workshop on Cyber Physical Systems •  NSF: Automotive CPS (2008) (2011) •  ARO: Security and Privacy of Cyber Physical System (2008) (2009) •  NIST: Cyber Security for Cyber Physical Systems •  National Workshop on Research on High-Confidence Transportation

Cyber Physical Systems: Automotive Aviation & Rail •  New Research Directions in for Future Cyber Physical Energy

Systems •  CPS Week (2010,2011,2012,2013)


CPS – Concept Map


Questions?


•  Read posted materials about: How to read, write, and present papers: •  http://www.crhc.uiuc.edu/wireless/talks/howto.ppt •  http://www.cbcb.umd.edu/confcour/CMSC838K-materials/how-to-read-a-

paper.pdf •  http://www.biochem.arizona.edu/classes/bioc568/papers.htm •  http://www2.cs.uregina.ca/~pwlfong/CS499/reading-paper.pdf •  http://www.cs.columbia.edu/~hgs/netbib/efficientReading.pdf

•  Pick CPS conferences (http://www.wikicfp.com/cfp/call?conference=cyber-physical%20systems):

•  ICCPS, HSCC, IPSN, HiCoNS, RTAS, RTCSA, BuildSys, WORCS, TACPS, CPSCom, HotCPS

•  Get the “Program” lists for last three years (2010, 2011, 2012) of each of your conference (if available). Total is 15 program lists

Warming UP


•  Select max 50 papers from the program lists, compile a list of the keywords related to Cyber Physical Systems.

•  DO NOT read the whole paper •  In most cases, title w/o paper abstract is enough.

•  Using a Tag Cloud tool, draw the corresponding tag cloud (word cloud, or weighted list in visual design) of the compiled keywords.

•  Email me one pdf page with your cloud tag.

Warming UP

•  Send me an ordered list of only 5 papers you mostly liked! •  Again use instincts/guts •  Your presentation paper(s) could be among this list

•  Deadline: Jan 17th, 5:45pm .

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