Search

Unlike standalone embedded devices, behaviors of a cyber-physical system (CPS) are highly dynamic. Many parameter values (e.g., those related to nature environment and third party black box functions) are unknown offline. Furthermore, distributed sub-CPSs may exchange data online. In this article, we first propose the concept of parametric hybrid automata (PHA) to describe such complex CPSs. As some PHA parameter values are unknown until runtime, conventional offline model checking is infeasible. Instead, we propose to carry out PHA model checking online, as a fault prediction mechanism. However, this usage is challenged by the high time cost of state reachability verification, which is the conventional focus of model checking. To address this challenge, we propose that the model checking shall focus on online scenario reachability validation instead. Furthermore, we propose a mechanism to compose/decompose scenarios. Our scenario reachability validation can exploit linear programming to achieve polynomial time cost. Evaluations on a state-of-the-art train control system show that our approach can cut online model checking time cost from over 1 h to within 200 ms. [ABSTRACT FROM AUTHOR]

The charging and discharging procedure of a battery is a typical electrochemical process, which can be modeled as a dynamic system. State of charge (SoC) is a commonly used measure to quantify the charge stored in the battery in relation to its full capacity. Recent efforts of optimizing battery performance require more accurate SoC information. The noise in sensor readings makes the estimation even more challenging, especially in battery-operated systems where the supply voltage of the sensor keeps changing. Traditionally used methods of Coulomb counting and extended Kalman filter suffer from the accumulation of noise and common phenomenon of biased noise, respectively. The traditional approach of dealing with ever-increasing demand for accuracy is to develop more complicated and sophisticated solutions, which generally require special models. A key challenge in the adoption of such systems is the inherent requirement of specialized knowledge and hit-and-trial-based tuning. In this paper, we explore a new dimension from the perspective of a self-tuning algorithm, which can provide accurate SoC estimation without error accumulation by creating a negative feedback loop and enhancing its strength to penalize the estimation error. Specifically, we propose a novel method, which uses a battery model and a conservative filter with a strong feedback, which guarantees that worst-case amplification of noise is minimized. We capitalize on the battery model for data fusion of current and voltage signals for SoC estimation. To compute the best parameters, we formulate the linear matrix inequality conditions, which are optimally solved using open-source tools. This approach also features a low computational expense during estimation, which can be used in real-time applications. Thorough mathematical proofs, as well as detailed experimental results, are provided, which highlight the advantages of the proposed method over traditional techniques. [ABSTRACT FROM PUBLISHER]

Networked robotics are a typical cyber–physical system (CPS). This paper presents the cyber physical interaction model to perform formation control and tracking in the presence of other robots and static obstacles. It discusses how such a model can be effectively utilized to deal with kinodynamic and operation range constraints. The cyber system is also responsible for feasible trajectory generation based upon regional path segments and to ensure that all the robots maneuver through obstacles in a safe manner. The introduction of virtual robot restructures the formation control problem into a tracking control problem between virtual reference robot and follower robots. A novel obstacle avoidance approach is proposed based upon the scaling of whole (partial) formation corresponding to centralized (distributed) framework. The involved CPS has network structure preserving properties that are key to effective distributed decision making. The novel formation control, obstacle avoidance, and trajectory tracking approaches facilitate networked robots to be effectively controlled through the cyber system. We also discuss efficient and optimal implementation of the proposed trajectory generator using computer-aided design for CPSs. Evaluation of the proposed approach is provided that demonstrate the formation control, trajectory tracking, and obstacle avoidance for multirobots using the proposed scheme. [ABSTRACT FROM AUTHOR]

Multimedia streaming applications with stringent QoS requirements in 60 GHz mmWave wireless personal area networks (WPANs) demand high rate and low latency data transfer as well as little service disruption. In this paper, we consider the problem of robust relay placement in 60 GHz WPANs with directional antenna. Relays forward traffic from transmitter devices to receiver devices facilitating i) the primary communication path for non-line-of-sight (NLOS) transceiver pairs, and ii) secondary (backup) communication path for line-of-sight (LOS) or NLOS transceiver pairs. By incorporating a classic directional antenna model and characterizing the link contention, we formulate the robust minimum relay placement problem and the robust maximum utility relay placement problem with the objective to minimize the number of relays deployed and maximize the network utility, respectively. Efficient algorithms are developed to solve both problems and have been shown to incur less service disruption in presence of moving subjects that may block the LOS paths in the environment. [ABSTRACT FROM PUBLISHER]

Cyber-Physical Systems (CPS) integrate discrete-time computing and continuous-time physical-world entities, which are often wirelessly interlinked. The use of wireless safety-critical CPS requires safety guarantees despite communication faults. This paper focuses on one important set of such safety rules: Proper-Temporal-Embedding (PTE), where distributed CPS entities must enter/leave risky states according to properly nested temporal pattern and certain duration spacing. Our solution introduces hybrid automata to formally describe and analyze CPS design patterns. We propose a novel leasing based design pattern, along with closed-form configuration constraints, to guarantee PTE safety rules under arbitrary wireless communication faults. We propose a formal procedure to transform the design pattern hybrid automata into specific wireless CPS designs. This procedure can effectively isolate physical world parameters from affecting the PTE safety of the resultant specific designs. We conduct two wireless CPS case studies, one on medicine and the other on control, to show that the resulted system is safe against communication failures. We also compare our approach with a polling based approach. Both approaches support PTE under arbitrary communication failures. The polling approach performs better under severely adverse wireless medium conditions; while ours performs better under benign or moderately adverse wireless medium conditions. [ABSTRACT FROM AUTHOR]

A wireless electrocardiogram case study suggests that current CDMA2000 cellular technology has considerable potential in medical telemetry. Modifications to the network protocol stack ensure the highest data integrity and lowest service delay. [ABSTRACT FROM PUBLISHER]

ZigBee and other wireless technologies operating in the (2.4GHz) ISM band are being applied in Wireless Personal Area Networks (WPAN) for many medical applications. However, these low duty cycle, low power, and low data rate medical WPANs suffer from WiFi co-channel interferences. WiFi interference can lead to longer latency and higher packet losses in WPANs, which can be particularly harmful to safety-critical applications with stringent temporal requirements, such as ElectroCardioGraphy (ECG). This paper exploits the Clear Channel Assessment (CCA) mechanism in WiFi devices and proposes a novel policing framework, WiCop, that can effectively control the temporal white-spaces between WiFi transmissions. Such temporal white-spaces can be utilized for delivering low duty cycle WPAN traffic. We have implemented and validated WiCop on SORA, a software-defined radio platform. Experimental results show that with the assistance of the proposed WiCop policing schemes, the packet reception rate of a ZigBee-based WPAN can increase by up to 116% in the presence of a heavy WiFi interferer. A case study on the medical application of WPAN ECG monitoring demonstrates that WiCop can bound ECG signal distortion within 2% even under heavy WiFi interference. An analytical framework is devised to model the CCA behavior of WiFi interferers and the performance of WPANs under WiFi interference with or without WiCop protection. The analytical results are corroborated by experiments. [ABSTRACT FROM PUBLISHER]

Hybrid systems model checking is a great success in guaranteeing the safety of computerized control cyber-physical systems (CPS). However, when applying hybrid systems model checking to Medical Device Plug-and-Play (MDPnP) CPS, we encounter two challenges due to the complexity of human body: 1) there are no good offline differential equation-based models for many human body parameters; 2) the complexity of human body can result in many variables, complicating the system model. In an attempt to address the challenges, we propose to alter the traditional approach of offline hybrid systems model checking of time-unbounded (i.e., infinite horizon, a.k.a., long run) future behavior to online hybrid systems model checking of time-bounded (i.e., finite horizon, a.k.a., short run) future behavior. According to this proposal, online model checking runs as a real-time task to prevent faults. To meet the real-time requirements, certain design patterns must be followed, which brings up the codesign issue. We propose two sets of system codesign patterns for hard real time and soft real time, respectively. To evaluate our proposals, a case study on laser tracheotomy MDPnP is carried out. The study shows the necessity of online model checking. Furthermore, test results based on real-world human subject trace show the feasibility and effectiveness of our proposed codesign. [ABSTRACT FROM AUTHOR]