NETWORKED SYSTEMS:

A CYBER PHYSICAL SYSTEMS

APPROACH

Yaser P. Fallah

Dept. of Electrical and Computer Engineering

College of Engineering & Computer Science, University of
 This Course
2

Networked Systems vs. Computer Networks

A system oriented look at computer network uses
Interaction of Networks and Applications
Study of Computer Networks used in Cyber Physical Systems (ITS,
SmartGrid, Industrial Control)

A course on: Data Networking + Systems

Perspective: Cyber Physical Systems . Why?
 WHEN CYBER IS NOT MINDFUL OF PHYSICAL
3

Source: UCB-EE294
 From Networks to Networked Cyber
Physical Systems
4

Information Age has mostly been driven by the Internet

Communications and Networking technologies have transformed the

way computers (also we) communicate => Internet, WWW, VOIP, Skype

Communications and Networking technologies have transformed the

way computing is done => Cloud Computing
Originally cloud computing was a way to share computing power
Now, Comm/Networking is allowing mobility, availability, services,
Data services rather than computing service

Such transformation has not occurred for the way our physical world
systems communicate or interact => Networked Cyber Physical
Systems
Internet of Things!!??
 WHEN CYBER IS NOT MINDFUL OF PHYSICAL
5

Mars Climate Orbiter: infamous

for Lockheed Martin engineers
mixing up the usage of
English units with metric units,
causing the orbiter to burn up
while entering Mars'
atmosphere.

Mars Polar Lander: Crash-

landed on surface due to
improper hardware testing
 Cyber Physical Systems
6

In 2007, the President's Council of Advisors on Science and Technology

(PCAST) named systems that interact with the physical world the
number one research challenge for US competitiveness.
After few workshops these systems were called Cyber Physical Systems.

The European Union has launched the ARTEMIS (Advanced Research &
Technology for EMbedded Intelligence & Systems) program, investing
over $7 billion in the embedded systems aspect of CPS research.

America must have a national strategy in which CPS technology

needs are addressed by combined government and corporate
investment
Don C. Winter, Vice President, Engineering & Information Technology, Boeing
Phantom Works. Statement before a Hearing on the NITRD Program,
Committee on Science and Technology, U.S. House of Representatives, July
2008. http://lazowska.cs.washington.edu/initiatives/Winter.pdf
 Cyber Physical Systems
7

The December 2010 report of the President's

Council of Advisors onScience and Technology,
Designing a Digital Future: Federally Funded R
esearch and Development in Networking and Info
rmation Technology
calls for:
continued investment in CPS research because of its
scientific and technological importance as well as its
potential impact on grand challenges in a number of
sectors critical to U.S. security and competitiveness,
including aerospace, automotive, chemical
production, civil infrastructure, energy, healthcare,
manufacturing, materials and transportation.
 CPS Example: Future (emm.. some today?)
Vehicles
8
More than 30% of the cost of a car and 90% of innovations
are in electronics

Source: UC Berkeley EE294, Sangiovanni-Vincentelli

 CPS Example: Future (emm.. some today?)
Vehicles
9

Consider a Car: Cadillac 1978 vs.

2010

a mostly mechanical device 1978 Cadillac Seville: first to have a mp: 6802
a networked embedded system
a cyber-physical system
Scale
Complexity
Autonomy & Intelligence

2010 Cadillacs boasts over 70

microprocessors
 CPS Examples: Connected Vehicles =>
?
10

Connect Vehicles
to each other and
the infrastructure
 CPS Examples: Connected Vehicles =>
Intelligent Transportation Systems
11

Next Generation of
Intelligent
Transportation
Systems (ITS)
Autonomous
Safe
Efficient

Safety: Collision
Avoidance, Driver
Assistance
Efficient Operation
Autonomy: Collision
Avoidance, eventually
Autonomous Driving
 Another CPS Example: Power Grid
12

Current Power Generation, Distribution

System:
complex, centralized control, failure prone,
inefficient
 Another CPS Example: Smart Grid
13

Use communication and networking technologies + sensing +

new architectures + new control methods to get the future Smart
Grid
Smart Grid will (Hopefully) be smart, efficient, controlled
autonomously and in a distributed manner, robust to failures

13
 CPS Requirements
14

Informally:
Safe
Efficient
Autonomous
Intelligent
More formally
Verifiable
Certifiable
Reliable
 What we know, dont know, and dont
know that dont know
15

With current state of the engineering science,

many of the envisioned smart ITS and Power systems
are just dreams
Why? Classic systems sciences, design and
modeling tools are either too simple, or too
abstract, or too narrow to deal with
Complexities of the CPSs
Networked nature of the CPS challenges
Heterogeneity of CPS components
Example: Theories of network control systems,
dynamical system modeling, software development
tools and languages, networking methods, etc
 Evidence: Vehicle Electronics of
Today
16
More than 30% of the cost of a car and 90% of innovations
are in electronics

Source: UC Berkeley EE294, Sangiovanni-Vincentelli

 Evidence: Aircraft Design Cost
17

Source EE249, Sangiovanni-Vincente

 Evidence: Aircraft Design Problems
Complexity beyond (engineers)
18
perception
 Now imagine networking these already
complex systems
19
 How should we prepare for CPS
challenges?
20

Learn the basic sciences and tools

Learn how they are used and interact in
specific application domains

Follow cutting edge research on advancing

CPS Science, new tools, new methods,

Participate in the cutting edge research on

advancing CPS Science

This course tries to guide you to the specific

science and engineering subjects related to
CPS
21 CpE 691
Course format and schedule
 This Course
22

This course
covers the unfolding research challenges
and directions in cyber-physical systems
discusses 2-3 applications in more detail
presents the underlying technologies and
theories for CPS applications
Presents how different fields such as
control, transportation, networking and
electric power may come together to
realize one concept.
 Prerequisites
23

Undergrad level knowledge of one or

more of the following subjects:
Communication Networks
Embedded Systems
Control
Power Systems
Transportation Systems
Programming skills
 Learning Outcome
24

Technologies involved in making CPS

work

General modeling methodologies

Hands-on experience with at least one

modeling technique
 Course Format
25

The course is a combination of lectures, homeworks,

paper reading and projects
The objective is to prepare you with enough
knowledge to find your way if you are presented with
a CPS application
Project objectives:
Learn how to identify problems in CPS domain
learn tools that will be useful in designing and evaluating
networked systems
Learn application specific tools (depends on your project)
Learn analysis methods
Learn how to write a research paper
 Student Presentations
26

Student presentations
Student presentations of published
research papers will be an integral part
of the final grade.
Some useful questions for preparing a
presentation are available here.
Detailed guidelines for presentations are
also available.
 Course Format
27

Projects and Paper reading assignments

will be based on your objective
Want to become a engineer/developer
Want to become a researcher
You are encouraged to work on a project
that you may use for your thesis or
another course.
 Grading Policy
28

Homework (2) 30%

Seminars (1 or 2) 15%
Midterm Exam (take-home) 25%
Term Project Report 30%
 Topics and Schedule
29
(tentative)
(weeks 1-7) [Assignment 2 Papers will be assigned]
Examples of networked systems
CPS Examples, Details

Intelligent Transportation Systems ITS

Smart Grid
Network of Autonomous Robots
Smart Grid
Smart Field Robotic Networks
Industrial Control Systems Seminars 2 (topics from Projects)
[Assignment 1 Papers will be assigned] (week 13-16)
Sensing Technologies Cyber Physical Systems
Positioning
Sensor Networks
Interaction of Components
Networking Technologies Modeling
Internet
System validation,


Industrial Networking (CAN, BacNet)
Wireless Networks certification
[projects identified] Seminar 3 (project progress)

Seminar 1 (topics from assigned papers)

Modeling Methods

(week 8-12) Models from Embedded

Control Architectures and Networked Control
Systems world
SCADA
Distributed Control
Modeling languages and Tools
Final Project Presentations
 Your background and
30
objectives
Education Career objectives


Engineer/developer
Masters or PhD
Researcher
What year Academic
Current graduate program
major and minor Area of Interest

B.Sc. degree major

Embedded systems
Control
Networking / Communications
Any notable project Systems Theory

Work/Internship Experience Applications

Vehicular and Transportation

Electric Power and Energy
Current Research Mobile Sensors
Thesis topic Oil and Gas
Any papers?
31 Networked Systems
 Networks
32

What is a network anyway?

Merriam Webster:
a fabric or structure of cords or wires that cross at regular
intervals and are knotted or secured at the crossings
a system of lines or channels resembling a network
an interconnected or interrelated chain, group, or system <a
network of hotels>
a system of computers, peripherals, terminals, and databases
connected by communications lines
a : a group of radio or television stations linked by wire or radio
relay b : a radio or television company that produces programs
for broadcast over such a network
a usually informally interconnected group or association of
persons (as friends or professional colleagues)
 Networks
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A Networked System is a Network if viewed as a whole

It is also a System if viewed as a whole
Similarly, a Network is a System on its own
To clarify, by Networked Systems we are referring to a
group of systems (call them sub-systems) that are
interconnected using communication media; these sub-
systems may themselves be networked systems inside,
or just simple systems.
 Networked Systems
34

Systems that are networked, not just that they run on a network
=> interconnections are more than just communication lines
The fact that they are networked affects the behavior of
components.
The entire system has a common objective
Do we consider Internet as a networked system?
No, if information exchange is assumed a service of the network and
the job of nodes is just information exchange
Yes, if behavior of nodes is considered from information
processing/consumption perspective; e.g., most applications, such as
bank transactions, etc.
Internet is particularly designed for cyber world only
We do not study internet as a Networked System, since we focus
on systems that interact with the physical world in this course.
 Analyzing a Networked System
35

How to dissect a networked system

Nodes and components
Layers
Subsystems
The choice of how a system is viewed affects how
solutions are developed
Control of the system is usually the main
objective
How should networks be abstracted?
What are the components?
End nodes, networks, controllers
 Analyzing a Networked System: example
1
36

CVS example
 Analyzing a Networked System: example
1
37

CVS example

Vehicle
1

Vehicle Vehicle
2 3
 Analyzing a Networked System: example
1
38

CVS example

Vehicle
1

802.11p
network
Vehicle Vehicle
2 3
 Analyzing a Networked System: example
1
39

CVS example

Distributed
Application
in Vehicles

802.11p
network
 Analyzing a Networked System
40

Abstraction and Modeling methods define how we view a

system, and vice versa

Some details are lost during abstraction and modeling

An analysis and resulting design can only be as good as the

modeling and abstraction used

With Cyber Physical Systems, modeling the physical

phenomena is as important as modeling the cyber part.
But these are not necessarily separate!

Modeling is an art, as much as it is a science

 Analyzing Networked Systems, ITS
example
41

Vehicle and
3G/4G Road Data
Vehicle-to-Infrastructure Infrastructure
Data System
Situation
Awareness
Cellular BS
DSRC
CVS Vehicle-to-Vehicle <- Internet + Roadside sensory data ->

DSRC
Vehicle to RSE

CICAS
RSE

Vehicle Side Back-end Side

Road Side
 Analyzing Networked Systems, mobile
sensor network example
42
 Analyzing Networked Systems, mobile
sensor network example
43

Network of autonomous mobile sensors

Programed mission
description (CSL)
Web Server

Protocols
AMN Protocols
CSL Interpreter

Javiator

AMN
Request:

Internet Web server

video, tracks,
.
 Analyzing Networked Systems, mobile
sensor network example
44

A networked system perspective

- resources, algorithms, devices, and allocations!
 Next Lecture
45

CPS application domains in more detail

Vehicular and Intelligent Transportation
Systems
Vehicle and
3G/4G Road Data
Vehicle-to-Infrastructure Infrastructure
Data System
Situation
Awareness

Cellular BS

DSRC
CVS
Vehicle-to- <- Internet + Roadside sensory data
Vehicle DSRC ->
Vehicle to
RSE

CICAS
RSE