CYBER-PHYSICAL SYSTEMS SEMINAR

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1 CYBER-PHYSICAL SYSTEMS SEMINAR COLUMBIA UNIVERSITY ELEN E9705 SPRING 2018 Instructor: Prof. Xiaofan (Fred) Jiang, Columbia University Special thanks to Prof. John A. Stankovic and Prof. Tamer Nadeem for course materials

2 DO NOT SHARE SLIDES AND CLASS MATERIALS ON ONLINE SITES

3 Logistics Instructor: Prof. Xiaofan Jiang Time: Thursdays 1:50PM-3:40PM Location: Fairchild 601B Prerequisites: PhD and MS students with interest in systems research and data science. Office hours: Tuesdays 2-3PM in NWC 1008 Course website:

4 Goals Learn about key ideas and concepts of CPS Understand state of art of CPS research and its diverse application domains Develop critical reading (and analysis) skills for research papers Learn how to present research in a clear and concise way Seminar -> reading, presenting, and discussing research papers Develop new, or improve existing, CPS research projects

5 Course Structure and Grading Paper presentation 35% 2 papers, from different categories Ok to propose CPS papers not in the reading list (with approval by instructor) 30 minutes presentation + lead discussion Participation and Discussion 35% Prepare short paper summaries for papers presented by others Prepare questions or comments for discussion (at least 3) Actively participate in discussions Project development 30% Propose a research project (either new or existing) 30 minutes project idea presentation: problem formulation, survey state of art, develop hypothesis, propose experiments, get feedback There is NO midterm nor final

6 Reading List Introduction CPS definition and vision CPS application domains Smart cities and built environment Fitness and health care Air quality and environment Cross-cutting topics Time-series data analysis Energy and power Scalability Wireless networking Etc. CPS related papers in your research field (with approval) Send me your paper choices by Jan. 22 EOD via

7 A side note on paper reading / writing, and research in general

8 The Simpson s take on Ph.D. They just made a terrible life choice. Marge Simpson

9 The illustrated guide to a Ph.D. by Matt Might

21 Reading an Academic Paper Different types of readers The knowledge seeker: most people read academic paper to get a rough idea The other guy: some one who is in a similar field or working on something related. Members of the TPC: should I accept or reject it?

22 The Knowledge Seeker Don t care about deep technical details They will most likely skip the equations Don t have time to read every word And only look at figures and read captions May not have the relevant technical background But will usually read intro

23 The Other Guy Comparison to your paper how is my work different? why is my work better? Reproduce / build on top of your work An implementation of the concept / architecture of your paper Reproduce results for comparison

24 Members of the TPC Technical contribution Originality Relevance to the conference/journal/workshop Scoring Recommendation Originality and impact Technical correctness Presentation Expertise The champion / anti-champion

25 Back to topic

26 Paper Presentation 30 minutes presentation Problem statement (what) Motivation (why) Related work (what am I doing differently) Hypothesis / approach / design choices (my cool idea) Experiments / implementation (what I designed to prove/disprove my hypothesis) Results (what I achieved) Conclusion / future work Your assessment of the paper Use more figures less text Do NOT need to follow structure of the paper Followed by discussion of the paper

27 Paper Summary Short paper summary before each class As a TPC member: Summary Pros Cons What would you do differently? 3+ questions / comments for presenter

28 Class Discussion Read the paper before class and be prepare for discussion led by the paper presenter Look through the fluff Ask questions of classmates 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. ( 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?

29 Introduction to CPS

Computing Evolution Mainframe computing (60 s-70 s) Large computers to

(80 s-90 s) One computer at every desk to do business/personal

every place/person Invisible part of the environment Millions for

30 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 and beyond)

31 Trend 1: Data/Device Proliferation (By Moore s Law) Industrial Sensors Transportation Smart Spaces Medical

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

33 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)

34 Confluence of Trends #1 Data/Device Proliferation (by Moore s Law) Distributed Cyber- Physical Information Distillation and Control Systems #2 Integration at Scale (Isolation has cost) #3 Autonomy (Human are not getting faster)

35 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.

whose operations are monitored, coordinated, controlled and

36 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

37 Application Domains of Cyber-Physical Systems Built environment / city scale systems Physical infrastructure monitoring and control Electricity generation and distribution Building and environmental controls Healthcare Medical devices Health management networks Transportation Automotive electronics Vehicular networks and smart highways Aviation and airspace management Avionics Railroad systems Process control Defense systems Tele-physical operations Telemedicine Tele-manipulation

38 Application Domains of Cyber-Physical Systems

39 Example 1: Automotive Systems

40 Example 2: Manned and Unmanned Ariel Vehicles

41 Example 3: Health Care and Medicine

42 Example 4: Electric Power Grid

43 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.

44 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

45 Example 7: Everyday Objects

46 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.

47 Why is CPS Hard?

48 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.

49 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 anembedded 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 limitedresources. 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.

50 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

51 Example: Ariane 5

52 Example: Auto Recalls

53 More Auto Recalls

54 Example: Mars PATH Finder Incompatible Cross Domain Protocols Interaction between RT and synchronization protocols on Pathfinder caused repeated resets, nearly doomed the mission

55 Example: Medical Devices 25% of all device recalls are bug related 1.5M devices recalled in last 8 years Between 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.

56 Societal Challenge How can we provide people and society with cyber-physical systems that they can trust their lives on? Trustworthy: Reliable, secure, privacypreserving, usable, etc. 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 ( ) London Ambulance System ( 9M, 1992) Pacemakers (500K recalls during ) Numerous computer-related incidents wth commer aircraft ( publications/compendium/ incidents_and_accidents/index.html)

57 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

58 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

59 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

60 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

61 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

62 It is about reinventing... Electric grid Transportation Healthcare Building energy management Aerospace Manufacturing Agriculture Mining...

63 CPS Concept Map

64 Questions?

Human Centered Production in Cyber- Physical Production Systems. Case study Croatia

Human Centered Production in Cyber- Physical Production Systems Case study Croatia Prof. Ivica Veža Faculty of Electrical Engineering, Mechnical Engineering and Naval Architecture FESB, University of Split,