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Cyber-Physical Systems: Issues and Challenges
Rabi N. Mahapatra Texas A&M University (Adopted from NSF Workshops) September 18, 2018 WECON 2011
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Overview What are Cyber-Physical Systems?
Emerging Context: Applications, technical & Economic Issues & Challenges Application Specific Research Identification Summary September 18, 2018 WECON 2011
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What are Cyber-Physical Systems?
What are CPS? – Are they desktop computers? – Are these traditional, post-hoc embedded/real-time systems? – Are these today’s sensor nets? Ans: None of the above! • Some defining characteristics: – Cyber capability in every physical component – Networked at multiple and extreme scales – Complex at multiple temporal and spatial scales – Dynamically reorganizing/reconfiguring – High degrees of automation, control loops must close at all scales – Unconventional computational and physical substrates (Bio? Nano?) – Operation must be dependable, certified in some cases September 18, 2018 WECON 2011
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Economic Context: US & EU Competitiveness
American Competitiveness Initiative announced: EU Framework Programme 7, European Research Council, and related actions • ARTEMIS – Backbone of European Research Area for Embedded Systems, • Strategic Research Agenda (SRA) • Joint Technology Initiative (JTI) • Embedded systems education and curriculum – “High-Level Group” • CEOs: ABB, Airbus, Nokia, Parades, British Telecom, COMAU, Philips, Bosch, Continental Teves, Daimler/Chrysler, ST Microelectronics, Symbian, Ericsson, Finmecanicca, Telenor, Thales, IMEC, Infineon • Universities and national research labs: TU Vienna, CNRS/Verimag – Joint public and private funding September 18, 2018 WECON 2011
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Example: Health Care and Medicine
National Health Information Network, Electronic Patient Record initiative – Medical records at any point of service – Hospital, 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 September 18, 2018 WECON 2011
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Example: 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 – 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 September 18, 2018 WECON 2011
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Example of a CPS concept (fiction)
Application Example Example of a CPS concept (fiction) “Weebo” has a personality, helps the absent minded professor in his duties. (she) can hover at eye level, Can navigate around the professor’s home on her own. Can make decision and can carry on an intelligent conversation with the professor (has feelings !) No longer fiction.. Its becoming reality Concept : Personal Assistant Weebo – from the movie ‘Flubber’ Flubber © Disney Motion Pictures 1997 September 18, 2018 WECON 2011
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Fiction becomes reality
Application Example Fiction becomes reality NASA – Personal Satellite Assistant (concept) Will help astronauts in space Will have built-in propulsion and navigation Can go to difficult to reach places Houston Space Center has a video on this concept. Personal Satellite Assistant © NASA Ames Research Center September 18, 2018 WECON 2011
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Personal Satellite Assistant
The PSA is about the size of a softball Has sensors for measuring gases, temperature, and air pressure. PSA can video conference & communicate with electronic support devices such as computer servers, avionics systems, and wireless LAN bridges. PSA is a robotic assistant for astronauts working in space. Prototype Artist’s concept of a PSA assisting an astronaut September 18, 2018 WECON 2011 Images © NASA Ames Research Center
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Defining Cyber-Physical Systems:
A cyber-physical system integrates computing, communication and storage capabilities with the monitoring and/or control of entities in the physical world dependably, safely, securely, efficiently and in real-time. Seek scientific foundations and technologies to integrate cyber-concepts with the dynamics of physical and engineered systems. September 18, 2018 WECON 2011
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Produce significant impact on society and national competitiveness.
Long-Term Goal Transform how we interact with the physical world just like the internet transformed how we interact with one another. Transcend space and yet control the physical environment Produce significant impact on society and national competitiveness. September 18, 2018 WECON 2011
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Industry Sectors To Benefit
Automobiles Industrial Automation Energy Defense and Space Intelligent Homes and Health/Medical Equipment Other Sectors to benefit: Telecommunications Consumer Electronics September 18, 2018 WECON 2011
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Possible Cyber-Physical Systems
Medical devices and health management networks Tele-physical operations Vehicular networks and smart highways Physical infrastructure monitoring and control Electricity generation and distribution Robotic manufacturing Aviation and airspace management Defense and aerospace systems … In general, any “X by wire(less)” where X is anything that is physical in nature. September 18, 2018 WECON 2011
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Issues & Challenges September 18, 2018 WECON 2011
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Fundamental Challenges
From a synthesis perspective Architecture Requirements and their management Formalization of the constraints imposed by the Physical layer (physical – cyber interface and boundary) Grand Challenge: Compositional approach to Cyber-Physical Systems Design and Synthesis. September 18, 2018 WECON 2011
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From IT Abstractions to “Hardware/Software”
From CAD schematics to chips From DNA ‘programs’ to living organisms ISR-SEIL, Copyright © 2006 September 18, 2018 WECON 2011
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From IT Abstractions to “HW/SW”
From algorithms and schematics to radios Embedded systems design tools Picoradio UAV Controller INS R-50 Hovering GPS Antenna No difference between HW and SW HW/SW co-design,, software radios GPS Card ISR-SEIL, Copyright © 2006 September 18, 2018 WECON 2011
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A Glimpse into the Future
Autonomic wireless networks, self-organizing collaborative robotics, self assembled systems and materials Computing over new Physical domains (Quantum, organic, biological) from abacus to qubits • entanglement • nuclear spin, electron spin • photon polarization, ion trap As dimensions get smaller what is cyber and what is physical gets fuzzier Communicating minds From material layer controlled by cyber layer to “programmable matter” Swarm intelligence True convergence of Control, communication computing ISR-SEIL, Copyright © 2006 September 18, 2018 WECON 2011
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Areas of Challenge Communication between the components
Data Storage & Retrieval Data Security Scalability Management of the CPS devices User Interfaces Safety September 18, 2018 WECON 2011
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Communication Large amounts of data transfer will be required
Challenge > Communication Communication Large amounts of data transfer will be required Will need enhanced wireless protocols which support Low power consumption (can power criteria be part of the protocol ? ) High Bandwidth High Data Transfer Rates Intelligent traffic management and routing. Large amounts of data transfer – will it be ‘bursty’ or continuous or some kind of new data flow pattern ? September 18, 2018 WECON 2011 Image © davisdrive.wcpss.net
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Communication-Security
Challenge > Communication Communication-Security Will require robust security to protect the data that is to be transferred. Should be light on computational and memory requirements. Should be able to gracefully degrade in case of attacks. Can we have self-quarantining of compromised sections/areas ? September 18, 2018 WECON 2011 NSF Workshop, Austin, October 17, 2006
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Data Storage & Retrieval
Challenge > Data Storage & Retrieval Data Storage & Retrieval Depending on application Monitoring type application low quantity on individual nodes Interactive application possibly huge amounts of data stored Should adopt distributed storage algorithms Algorithm selection cannot be generic, will be application specific. Distributed storage is the way to go in the future, allows for more network reliability. September 18, 2018 WECON 2011 Image © NeoScale Systems Inc
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Scalability CPS will be a global, open & extensible platform
Challenge > Scalability Scalability CPS will be a global, open & extensible platform Questions: How do we describe, discuss, deduce the invariants of such a global system ? How do we model the expansion of such a system ? How will such a system scale to planet-wide use and deployment ? These are some questions which remain to be answered. (Planetwide – as will be seen from the application specific challenges – smart transportation, bio app ) If you are monitoring air pollution across the world September 18, 2018 WECON 2011
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Management of CPS How do we deploy and control large scale applications ? Wireless networks that can perform self-organization. Adaptive routing protocols for traffic control and efficient routing. Multiple smaller deployments that collaborate into one large network . (an Internet of CPS ?) Image © September 18, 2018 WECON 2011
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Safety of Cyber-Physical Systems
September 18, 2018 WECON 2011
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Interactive Complexity
Two dimensions − Coupling: Tight vs. Loose • Delay and ordering tolerance,resource slack, inherent buffering (vs. designed in) − Interactions: Complex vs. Linear • Degree of feedback, number of common mode connections, limited system understanding, reliance of human expertise, many control parameters Systems with high interactive complexity possess numerous hidden interactions that can lead to systems accidents − Nuclear Power Plants − Chemical Plants − Software Systems System Accident: The halting of system operations due to damage or failure of multiple subsystems that arises from the unanticipated interactions of multiple failures September 18, 2018 WECON 2011
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Cyber Physical System Accidents
USS Yorktown ( navy.html ) − Suffered a systems failure when bad data was fed into its computers during maneuvers off the coast of Cape Charles, VA. − The ship had to be towed into the Naval base at Norfolk, VA., because a database overflow caused its propulsion system to fail − ”We are putting equipment in the engine room that we cannot maintain and, when it fails, results in a critical failure," DiGiorgio said. It took two days of pier-side maintenance to fix the problem. September 18, 2018 WECON 2011
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Accident due to SW Bug Ariane Five
( Ariane 5 reused a module developed for Ariane 4, which assumed that the horizontal velocity component would not overflow a 16-bit variable. − This was true for Ariane 4 but not for Ariane 5, leading to self-destruction roughly 40 seconds after the launch. − “The [Ariane 5] alignment function is operative for 50 seconds after starting of the Flight … This time sequence is based on a requirement of Ariane 4 and is not required for Ariane 5.” (Report by the Inquiry Board) September 18, 2018 WECON 2011
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Interactive Complexity in Cyber Physical Systems
Cyber Physical Systems Typically Have High Interactive Complexity − Many tightly coupled system threads with hard deadlines − Shared resources among mission critical and non-mission critical systems − Give rise to numerous hidden dependencies, which then lead to unexpected function, performance, or accidents Limited Design Time Support to Understand or Reduce Interactive Complexity − Existing analytical methods e.g. rate monotonic analysis, address individual aspects but skilled practitioners are required to employ these techniques • As a result we see limited application − Simulations are typical hand written and are difficult to keep synchronized with the design; or abstract away details that lead to hidden dependencies Present Cyber Physical Systems Rely on Human Ingenuity at Design Time and Extensive System Testing to Manage Interactive Complexity − As a result, we experience long and costly development efforts that are expected to encounter system accidents. September 18, 2018 WECON 2011
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Application Research Initiative
September 18, 2018 WECON 2011
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Application Specific Approaches
Cyber-Bio Interface Critical Physical Infrastructure Tele-Interaction Smart Transportation System Infrastructure Each of these Applications – has a separate presentation to themselves, so this is a condensed version of them Cyber Bio Interface is the most promising field here. Followed by Critical Physical Infrastructure and Smart Transportation. September 18, 2018 WECON 2011
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The four questions for cyber-bio systems
Application Specific Approaches Cyber Bio Interface The four questions for cyber-bio systems Can biological systems operationalize certain aspects of cyber systems so that we can understand and design advanced biological systems? 2. Can biological systems operationalize certain aspects of cyber systems so that we can understand and design advanced cyber systems? 3. Can cyber systems operationalize certain aspects of biological systems so that we can understand and design advanced biological systems? 4. Can cyber systems operationalize certain aspects of biological systems so that we can understand and design advanced cyber systems? Harvey Rubin, MD, PhD University of Pennsylvania, NSF, Austin, October 17, 2006 September 18, 2018 WECON 2011
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Application Specific Approaches
Cyber Bio Interface Can biological systems operationalize certain aspects of cyber systems so that we can understand and design advanced biological systems? Answer : YES Up to the level of tissues and cultures, this is predominantly in the world of synthetic biology. *advanced biological systems is a speculative word. *We can currently go till the level of tissues and cultures *Synthetic biology – artifical skin for burn victims, the robotic hand prosthesis, *1918 Flu Epidemic : Complete genome sequenced in 2005 1918 Flu Epidemic : Complete genome sequenced in 2005 September 18, 2018 Harvey Rubin, MD, PhD University of Pennsylvania, NSF, Austin, October 17, 2006 WECON 2011
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Application Specific Approaches
Cyber Bio Interface 2. Can biological systems operationalize certain aspects of cyber systems so that we can understand and design advanced cyber systems? Answer : No While DNA computation has been proved possible, time for the ‘gate’ to operate has been in the order of several seconds Len Adelman DNA computation papers he solved a seven-node instance of the Hamiltonian Graph problem, an NP-Complete problem. Molecular Computation of Solutions to Combinatorial Problems", journal = "Science", november "1994", Harvey Rubin, MD, PhD University of Pennsylvania, NSF, Austin, October 17, 2006 September 18, 2018 WECON 2011
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Cyber Bio Interface Physical Limitations of DNA Computing
Application Specific Approaches Cyber Bio Interface Physical Limitations of DNA Computing Hamiltonian path problem 25 nodes….. 1 kilogram of DNA needed 70 nodes….. 1000 kilograms of DNA needed ! Len Adelman DNA computation papers—highly parallel, solve NP problems he solved a seven-node instance of the Hamiltonian Graph problem, an NP-Complete problem author = "Leonard M. Adleman", title = "Molecular Computation of Solutions to Combinatorial Problems", journal = "Science", november "1994", September 18, 2018 Harvey Rubin, MD, PhD University of Pennsylvania, NSF, Austin, October 17, 2006 WECON 2011
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Application Specific Approaches
Cyber Bio Interface Can cyber systems operationalize certain aspects of biological systems so that we can understand and design advanced biological systems? Answer: Yes Nano-bio Medical devices Lab on a chip NSF workshop on high confidence medical devices and software systems last year Subject of Tele-Physical services and applications working group at NSF Workshop > $3 billion invested already ! Life Sciences & Medicine Bio-nano Materials & Tissues Bio Sensors & Diagnostics Biomarkers & Nanoparticles Cancer Nanotechnology Cellular & Molecular Dynamics Drug Delivery & Therapeutics Imaging Nano Medicine Nanotech to Neurology 2007 NSTI Nanotechnology Conference and Trade Show – May Santa Clara September 18, 2018 Harvey Rubin, MD, PhD, University of Pennsylvania, NSF, Austin, October 17, 2006 WECON 2011
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Application Specific Approaches
Cyber Bio Interface 4. Can cyber systems operationalize certain aspects of biological systems so that we can understand and design advanced cyber systems? Answer : Yes ! Has been happening all the time: Harvey Rubin, MD, PhD, University of Pennsylvania, NSF, Austin, October 17, 2006 September 18, 2018 WECON 2011
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Application Specific Approaches
Cyber Bio Interface examples abound (from molecular level to societal level) Persistence in bacteria hedge strategy against attack Cellular metabolism : metabolic flux models supply chain Swarm behavior Autonomous mobile robots Inverse problem Markets Data aggregation Event prediction Inverse problem – model parameters to be obtained from the model data. The transformation from data to model parameters is a result of the interaction of a physical system such as the Earth Harvey Rubin, MD, PhD, University of Pennsylvania, NSF, Austin, October 17, 2006 September 18, 2018 WECON 2011
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Critical Physical Infrastructure
What is Critical Physical Infrastructure? CPS Infrastructure: Interconnected systems with seamless interaction between computing and physical systems. How is this different from traditional embedded computing ? Embedded – is about the physical effects of computing CPS – is about the scaling of systems of embedded systems (a field that we do not understand) September 18, 2018 WECON 2011
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Critical Physical Infrastructure Current Challenges
What to do with data collected by the CPS - for e.g. (oil pipeline inspections) Translate / Interpret data and arrive at a decision Communicate with the people in charge. Develop large scale models of the physical world Being done in SCADA for prediction SCADA - Supervisory Control And Data Acquisition : (called Human Machine Interface in Europe) Large Scale Distributed Measurement (and Control) System We need data on abnormal conditions CPS are subject to massive (cascading) failures. Power Grid, Air Traffic, Automotive, Data Centers How do we handle unpredictable component interactions ? CPS are subject to massive (cascading) failures. Power Grid, Air Traffic, Automotive, Data Centers – CPS in each of these situations will have to respond differently. Communication failures will have to be handled in a graceful degradation fashion. September 18, 2018 WECON 2011
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Tele-Interaction Remote/Distributed = Tele Perception Action
Attributes of tele-interaction Encompasses: Tele-services (e.g., human services for elderly)– Tele-immersion (e.g., Medical surgery and rehabilitation)– Tele-operation (e.g., hazardous operation) – Tele-supervisory control (e.g., remote construction, traffic management)– Factory automation– Environmental monitoring Dr. Mahapatra & Dr. Bettati participated in this “working group” September 18, 2018 WECON 2011 NSF Workshop, Austin, October 17, 2006
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Scenarios Tele-Interaction Application
First responder applications Dangerous environments, under water exploration, fire fighting Tele-health, tele-services for aging population (assisted living) Collaborative dancing Physiotherapy between a doctor and patient Training environment for training medical personal for tele-surgery Tele-immersion inside of the body Network of robots and sensors that work in a cyber-physical spaces with a remote human in the loop to accomplish dangerous, unpleasant, or super-human activities Factory automation and reconfiguration September 18, 2018 WECON 2011 NSF Workshop, Austin, October 17, 2006
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Tele Interaction - Unmet Needs
Latency-sensitive Internet Display technology and the overall I/O technology Haptic technology needs higher time resolution, many sensors and display to emulate whole hand sensing and actuation Interactive human-machine interfaces are limited Managing Complexity Networked self-organization Trust, Security and self-certifying software Haptic technology refers to technology which interfaces the user via the sense of touch by applying forces, vibrations and/or motions to the user. It is an emerging technology that promises to have wide reaching applications. Although haptic devices are capable of measuring bulk or reactive forces that is applied by the user it should not to be confused with touch or tactile sensors that measure the pressure or force excerted by the user to the interface. September 18, 2018 WECON 2011
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Tele-Interaction Challenges
How do we achieve being in remote space feeling in remote space effecting remote space Synchronization in multi-modal environments; Trust (reliability, safety, privacy, …) Robust and fault tolerant systems Achievement of autonomy and semi-autonomy Reusable user interfaces Turing test for presence (human/physical object appearance) Scalable and managed distributed infrastructure Addressing of human/computer interaction and slave/environment interaction September 18, 2018 WECON 2011
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Smart Transportation Challenges
Basic Goal : move people and goods Safely and reliably Efficiently (min resources, no environmental damage) Quickly Desirably (passenger’s experience should be fun) “Smart” ? Use CPS to improve / facilitate all of the above Use the transportation system to provide traffic, GIS, terrain data passenger’s experience should be fun – should not induce motion sickness or other such ailments transportation system could relay the real time data back to the HQ September 18, 2018 WECON 2011 NSF Workshop, Austin, October 17, 2006
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CPS Enabled Automobile Trend
Goals – Enhance safety of vehicle and occupants during various driving maneuvers; avoid crashes – Enhance convenience of driver of the vehicle • Trend is shift from warning-only or information-only systems (e.g., collision warning systems) to systems that actively control acceleration and braking (longitudinal motion) and steering (lateral motion), leading to semi-autonomous and eventually fully autonomous vehicle operation • Examples: – Forward collision warning – Adaptive Cruise Control (ACC) + extensions – Curve speed control – Side blind zone alert – Lane change assist – Lane keeping / lane centering control – Cross traffic collision avoidance – Parking assist September 18, 2018 WECON 2011
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Research Needs for Auto Industries
360°sensing via vision, radar, sonar, and sensor fusion for higher level situational awareness • Robust requirements: how should the vehicle behave in anticipation of every possible real-world driving scenario • Driver experience, skill level, and mental state (e.g., drowsiness, inattentiveness) • Vehicle state of health / maintenance / repair • External environmental factors (weather conditions, road conditions, traffic conditions) • Learning, adaptable, reconfigurable run-time systems • Fault tolerant architectures – Hardware and Software fault tolerance (USCAR project on run-time architecture) • Distributed diagnosis/prognosis • Human Vehicle Interface – Sensing and learning the driver’s skills, habits, and current condition (attention, drowsiness, impairment) – Driver workload management September 18, 2018 WECON 2011
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System Infrastructure
Problem Statement: Coupling interface between computers and the physical world. Methods and models for validation Co-development Self Configurability of systems and system parameters within requirements Self description capable , self aware systems Education September 18, 2018 WECON 2011
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System Infrastructure -Challenges
Dealing with time, distributed architecture, space, scale Dealing with the hybrid nature of CPS Security ? Adaptive OS / Self regeneration capability Engineering Education Issues September 18, 2018 WECON 2011 NSF Workshop, Austin, October 17, 2006
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Summary CPS is the hype of next decades!
Involves multi-disciplinary research High confidence SW CPS has the potential to change the way people interact with their surroundings applications in the future for CPS are limited only by human imagination Affordability and ease of use will drive adoption September 18, 2018 WECON 2011
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