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E-raamat: Cyber-Physical Systems

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Learn the State of the Art in Embedded Systems and Embrace the Internet of Things

 

The next generation of mission-critical and embedded systems will be cyber physical: They will demand the precisely synchronized and seamless integration of complex sets of computational algorithms and physical components. Cyber-Physical Systems is the definitive guide to building cyber-physical systems (CPS) for a wide spectrum of engineering and computing applications.

 

Three pioneering experts have brought together the fields most significant work in one volume that will be indispensable for all practitioners, researchers, and advanced students. This guide addresses CPS from multiple perspectives, drawing on extensive contributions from leading researchers.

 

The authors and contributors review key CPS challenges and innovations in multiple application domains. Next, they describe the technical foundations underlying modern CPS solutionsboth what we know and what we still need to learn. Throughout, the authors offer guiding principles for every facet of CPS development, from design and analysis to planning future innovations.

 

Comprehensive coverage includes





Understanding CPS drivers, challenges, foundations, and emerging directions Building life-critical, context-aware, networked systems of medical devices Creating energy grid systems that reduce costs and fully integrate renewable energy sources Modeling complex interactions across cyber and physical domains Synthesizing algorithms to enforce CPS control Addressing space, time, energy, and reliability issues in CPS sensor networks Applying advanced approaches to real-time scheduling Securing CPS: preventing man-in-the-middle and other attacks Ensuring logical correctness and simplifying verification Enforcing synchronized communication between distributed agents Using model-integration languages to define formal semantics for CPS models















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Introduction xiii
Emergence of CPS xiv
CPS Drivers xvi
Applications xvi
Theoretical Foundations xvii
Target Audience xix
PART I Cyber-Physical System Application Domains
1(130)
Chapter 1 Medical Cyber-Physical Systems
3(58)
1.1 Introduction and Motivation
4(1)
1.2 System Description and Operational Scenarios
5(4)
1.2.1 Virtual Medical Devices
7(1)
1.2.2 Clinical Scenarios
8(1)
1.3 Key Design Drivers and Quality Attributes
9(39)
1.3.1 Trends
9(3)
1.3.2 Quality Attributes and Challenges of the MCPS Domain
12(2)
1.3.3 High-Confidence Development of MCPS
14(7)
1.3.4 On-Demand Medical Devices and Assured Safety
21(7)
1.3.5 Smart Alarms and Clinical Decision Support Systems
28(6)
1.3.6 Closed-Loop System
34(6)
1.3.7 Assurance Cases
40(8)
1.4 Practitioners' Implications
48(4)
1.4.1 MCPS Developer Perspective
49(1)
1.4.2 MCPS Administrator Perspective
50(1)
1.4.3 MCPS User Perspective
50(1)
1.4.4 Patient Perspective
51(1)
1.4.5 MCPS Regulatory Perspective
51(1)
1.5 Summary and Open Challenges
52(9)
References
53(8)
Chapter 2 Energy Cyber-Physical Systems
61(42)
2.1 Introduction and Motivation
62(1)
2.2 System Description and Operational Scenarios
63(2)
2.3 Key Design Drivers and Quality Attributes
65(14)
2.3.1 Key Systems Principles
67(6)
2.3.2 Architecture 1 Performance Objectives
73(5)
2.3.3 A Possible Way Forward
78(1)
2.4 Cyber Paradigm for Sustainable SEES
79(17)
2.4.1 Physics-Based Composition of CPS for an SEES
82(4)
2.4.2 DyMonDS-Based Standards for CPS of an SEES
86(8)
2.4.3 Interaction Variable--Based Automated Modeling and Control
94(2)
2.5 Practitioners' Implications
96(1)
2.5.1 IT-Enabled Evolution of Performance Objectives
96(1)
2.5.2 Distributed Optimization
96(1)
2.6 Summary and Open Challenges
97(6)
References
100(3)
Chapter 3 Cyber-Physical Systems Built on Wireless Sensor Networks
103(28)
3.1 Introduction and Motivation
104(1)
3.2 System Description and Operational Scenarios
105(10)
3.2.1 Medium Access Control
107(2)
3.2.2 Routing
109(2)
3.2.3 Node Localization
111(2)
3.2.4 Clock Synchronization
113(1)
3.2.5 Power Management
114(1)
3.3 Key Design Drivers and Quality Attributes
115(7)
3.3.1 Physically Aware
115(1)
3.3.2 Real-Time Aware
116(2)
3.3.3 Runtime Validation Aware
118(2)
3.3.4 Security Aware
120(2)
3.4 Practitioners' Implications
122(2)
3.5 Summary and Open Challenges
124(7)
References
125(6)
PART II Foundations
131(230)
Chapter 4 Symbolic Synthesis for Cyber-Physical Systems
133(32)
4.1 Introduction and Motivation
134(1)
4.2 Basic Techniques
135(17)
4.2.1 Preliminaries
135(1)
4.2.2 Problem Definition
135(9)
4.2.3 Solving the Synthesis Problem
144(4)
4.2.4 Construction of Symbolic Models
148(4)
4.3 Advanced Techniques
152(6)
4.3.1 Construction of Symbolic Models
154(2)
4.3.2 Continuous-Time Controllers
156(1)
4.3.3 Software Tools
157(1)
4.4 Summary and Open Challenges
158(7)
References
159(6)
Chapter 5 Software and Platform Issues in Feedback Control Systems
165(32)
5.1 Introduction and Motivation
166(1)
5.2 Basic Techniques
167(4)
5.2.1 Controller Timing
167(2)
5.2.2 Control Design for Resource Efficiency
169(2)
5.3 Advanced Techniques
171(21)
5.3.1 Reducing the Computation Time
171(1)
5.3.2 Less Frequent Sampling
172(1)
5.3.3 Event-Based Control
173(1)
5.3.4 Controller Software Structures
174(2)
5.3.5 Sharing of Computing Resources
176(2)
5.3.6 Analysis and Simulation of Feedback Control Systems
178(14)
5.4 Summary and Open Challenges
192(5)
References
193(4)
Chapter 6 Logical Correctness for Hybrid Systems
197(40)
6.1 Introduction and Motivation
198(2)
6.2 Basic Techniques
200(21)
6.2.1 Discrete Verification
200(21)
6.3 Advanced Techniques
221(10)
6.3.1 Real-Time Verification
221(6)
6.3.2 Hybrid Verification
227(4)
6.4 Summary and Open Challenges
231(6)
References
232(5)
Chapter 7 Security of Cyber-Physical Systems
237(22)
7.1 Introduction and Motivation
238(1)
7.2 Basic Techniques
239(9)
7.2.1 Cyber Security Requirements
239(1)
7.2.2 Attack Model
240(5)
7.2.3 Countermeasures
245(3)
7.3 Advanced Techniques
248(8)
7.3.1 System Theoretic Approaches
248(8)
7.4 Summary and Open Challenges
256(3)
References
256(3)
Chapter 8 Synchronization in Distributed Cyber-Physical Systems
259(30)
8.1 Introduction and Motivation
259(3)
8.1.1 Challenges in Cyber-Physical Systems
261(1)
8.1.2 A Complexity-Reducing Technique for Synchronization
261(1)
8.2 Basic Techniques
262(8)
8.2.1 Formal Software Engineering
263(1)
8.2.2 Distributed Consensus Algorithms
264(2)
8.2.3 Synchronous Lockstep Executions
266(1)
8.2.4 Time-Triggered Architecture
267(1)
8.2.5 Related Technology
268(2)
8.3 Advanced Techniques
270(12)
8.3.1 Physically Asynchronous, Logically Synchronous Systems
270(12)
8.4 Summary and Open Challenges
282(7)
References
283(6)
Chapter 9 Real-Time Scheduling for Cyber-Physical Systems
289(42)
9.1 Introduction and Motivation
290(1)
9.2 Basic Techniques
291(10)
9.2.1 Scheduling with Fixed Timing Parameters
291(9)
9.2.2 Memory Effects
300(1)
9.3 Advanced Techniques
301(24)
9.3.1 Multiprocessor/Multicore Scheduling
301(12)
9.3.2 Accommodating Variability and Uncertainty
313(5)
9.3.3 Managing Other Resources
318(5)
9.3.4 Rhythmic Tasks Scheduling
323(2)
9.4 Summary and Open Challenges
325(6)
References
325(6)
Chapter 10 Model Integration in Cyber-Physical Systems
331(30)
10.1 Introduction and Motivation
332(1)
10.2 Basic Techniques
333(5)
10.2.1 Causality
334(1)
10.2.2 Semantic Domains for Time
335(1)
10.2.3 Interaction Models for Computational Processes
336(1)
10.2.4 Semantics of CPS DSMLs
337(1)
10.3 Advanced Techniques
338(18)
10.3.1 ForSpec
339(3)
10.3.2 The Syntax of CyPhyML
342(2)
10.3.3 Formalization of Semantics
344(5)
10.3.4 Formalization of Language Integration
349(7)
10.4 Summary and Open Challenges
356(5)
References
357(4)
About the Authors 361(2)
About the Contributing Authors 363(8)
Index 371
Ragunathan (Raj) Rajkumar is the George Westinghouse Professor in Electrical and Computer Engineering at Carnegie Mellon University. Among other companies like TimeSys, he founded Ottomatika, Inc., which focused on software for self-driving vehicles and was acquired by Delphi. He has chaired several international conferences, has three patents, has authored a book and co-edited another, and has published more than 170 refereed papers in conferences and journals. He received a B.E. (Hons.) degree from the University of Madras, India, and M.S. and Ph.D. degrees from Carnegie Mellon University, Pittsburgh, Pennsylvania. His research interests include all aspects of cyber-physical systems.

 

Dionisio de Niz is a Principal Researcher at the Software Engineering Institute at Carnegie Mellon University. He received an M.S. in information networking from the Information Networking Institute and a Ph.D. in electrical and computer engineering from Carnegie Mellon University. His research interests include cyber-physical systems, real-time systems, and model-based engineering. In the real-time arena he has recently focused on multicore processors and mixed-criticality scheduling, and has led a number of projects on both fundamental research and applied research for the private industry and government organizations. He worked on the reference implementation and a commercial version of the Real-Time Java Specification.

 

Mark Klein is Senior Member of the Technical Staff at the Software Engineering Institute and is Technical Director of its Critical System Capabilities Directorate, which conducts research in cyber-physical systems and advanced mobile systems. His research has spanned various facets of software engineering, dependable real-time systems, and numerical methods. Kleins most recent work focuses on design and analysis principles for systems at scale, including cyber-physical systems. He is co-author of many papers and three books: Ultra-Large-Scale Systems (Software Engineering Institute/Carnegie Mellon, 2006), Evaluating Software Architectures (Addison-Wesley, 2001), and A Practitioners Handbook for Real-Time Analysis (Springer, 1993).
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