The document discusses applications of cyber-physical systems and robotics. Some key areas discussed include smart manufacturing using robotics working safely with humans, transportation systems using vehicle-to-vehicle communication and autonomous vehicles, smart energy grids, infrastructure monitoring using sensors, and medical devices. The integration of computation, networking, and physical processes allows innovative applications that can improve efficiency, safety, reliability and sustainability across many sectors.

1. Cyber-Physical Systems and
Robotics
Tuan A. Trinh
Budapest University of Technology and Economics
Network Economics Group Lead
Luxembourg, May 13-14, 2016

2. Examples of CPS

3. Make it easier and safer
for humans to work side-
by-side
Giving robots the tools
to learn the preferences
of a human coworker
(MIT, 2012)
of a human coworker

4. Economic impact of ICT in Europe
(2013)
Europe accounts for 30% of world production of
embedded systems with particular strengths in
the automotive sector, aerospace and health.

5. Economic impact of ICT in Europe
(2013)
In the ARTEMIS program , the European Union,
had spent € 7 billion on embedded system and
CPS by 2013 – with a view to become a world
leader in the field by 2020

6. Economic impact of ICT in Europe
(2013)
The United States is still a global leader in cyber
technologies and well-positioned to gain/maintain
a competitive advantage in CPS

7. Economic impact of ICT in Europe
(2013)
Japan is capitalizing on its traditional strengths in
this field to make technology advances.

8. Economic impact of ICT in Europe
(2013)
The great potential of CPS is motivating countries
such as India and China to forge ahead into the
field.

9. Smart Interactions
Big Data and
Next
Generation
Data Analytics
Cyber-physical
Systems and Robotics
Sensor
networks

10. Intelligent Energy Management for Public Underground
Spaces through Cyber-Physical Systems
Courtesy: SEAM4US

11. Intelligent Energy Management for Public Underground
Spaces through Cyber-Physical Systems
Big Data and
Courtesy: SEAM4US
Big Data and
Next
Generation
Data Analytics
Sensor
networks

12. Cyber-Physical Systems vs. Embedded
Systems
• Embedded system: “integration of information
processing into products”
– Time and concurrency
• Cyber-physical systems: Orchestration of
computational resources with physical systemscomputational resources with physical systems
and environment [Edward Lee (UC Berkeley),
2006]

13. Embedded
systems
Embedded
systems
Physical
Environment
Physical
Environment
Cyber-physical
systems
Cyber-physical
systems

14. Definition according to National Science
Foundation (US)
• Cyber-physical systems (CPS) are engineered systems that are built
from and depend upon the synergy of computational and physical
components.
• Emerging CPS will be coordinated, distributed, and connected, and
must be robust and responsive.
• The CPS of tomorrow will need to far exceed the systems of today in
capability, adaptability, resiliency, safety, security, and usability.
• Examples of the many CPS application areas include the smart
electric grid, smart transportation, smart buildings, smart medical
technologies, next-generation air traffic management, and
advanced manufacturing.

15. Vision: Internet of
Things, Data and
Services, e.g.
Smart City
Cyber-Physical
Systems
Internet of Things, Data and Services
(Enabling technology: Cyber-Physical Systems)
Networked
Embedded Systems
e.g. autonomous
aviation
Embedded
Systems
e.g. airbag

16. Components of CPS
Information
HCI/HRI
A/D converter
Sample-and- D/A
Sensors
Physical
environment
Actuators
Information
processing
Sample-and-
hold
D/A
converter

17. Component of CPS – networking perspective

18. Traditional control system

19. An extreme view of cyber-physical
system
Cyber Physical

20. Components of CPS – Control theoretic perspective
ZoH : practical signal reconstruction done by a conventional
digital-to-analog converter (DAC , holding each sample value
for one sample interval.

21. Characteristics of Cyber-Physical
SystemsSystems

22. Reactive
Cyber-Physical
SystemSystem
Typically, CPS are reactive systems:
“A reactive system is one which is in continual
interaction with its environment and executes at a pace
determined by that environment“ [Bergé, 1995]

23. Hybrid
Cyber-Physical
System
Hybrid systems
(analog + digital parts)

24. Characteristics of cyber-physical systems
Dedicated
Cyber-Physical
System
Dedicated towards a certain application
Knowledge about behavior at design time can be used to
minimize resources and to maximize robustness
• Dedicated user interface

25. Characteristics of cyber-physical systems
Dynamic
Cyber-Physical
System
Dynamics
•Frequent changes of environment
•High volume of (sensored) data traffic; fluctuation
•Delay, delay fluctuation

26. Characteristics of cyber-physical systems
Reactive Dedicated
Hybrid Dynamic
Cyber-Physical
System

27. Broad challenges for cyber-
physical systemsphysical systems

28. Scientific and technical challenges
• Integrating complex, heterogeneous larg-scale
systems
• Interaction between humans and systems
• Dealing with uncertainty• Dealing with uncertainty
• Measuring and verifying system performance
• System design

29. Design process of CPS
Phase 1
• Application knowledge
Phase 2
• Specification
• Hardware/Software componentsPhase 2 • Hardware/Software components
Phase 3
• Design repository
• Application mapping
Phase 4
• Design
• Test

30. Challenges for CPS software design
• Dynamic environments
• Capture the required behaviour
• Validate specifications
• Efficient translation of specifications into
implementationsimplementations
• How can we check that we meet real-time constraints?
• How do we validate embedded real-time software?
– large volumes of data
– testing may be safety-critical

31. Operating system requirements for CPS
• General requirements for embedded
operating systems
• Configurability
• I/O
• Interrupts• Interrupts
• General properties of real-time operating systems
• Predictability
• Time services
• Synchronization
• Classes of RTOSs,
• Device driver embedding

32. Expectations and design challenges of
CPS
• Dependability
• Efficiency
• Meeting real-time requirements
• Hardware properties, physical environment• Hardware properties, physical environment

33. Dependability
• Reliability R(t) = probability of system working
correctly provided that it was working at t=0
• Maintainability M(d) = probability of system working
correctly d time units after error occurred.
• Availability A(t): probability of system working and• Availability A(t): probability of system working and
available at time t
• Safety: no harm to be caused
• (Security: confidential and authentic communication)

34. Efficiency
• Code-size efficient
(especially for systems on a chip)
• Run-time efficient
• Weight efficient
• Cost efficient
• Energy efficient

35. Real-time constraints
• A real-time system must react to stimuli from the
controlled object (or the operator) within the
time interval dictated by the environment.
• “A real-time constraint is called hard, if not
meeting that constraint could result in ameeting that constraint could result in a
catastrophe“ [Kopetz, 1997].
• All other time-constraints are called soft.
• A guaranteed system response has to be
explained without statistical arguments [Kopetz,
1997].

36. Intellectual Property (IP) in CPS design
© Fujitsu Corporations
• Increasing design complexity
• Lack of internal capabilities/sharing risks
• Narrow time-to-market
• Budget constraints – lower development/maintenance costs
• Better development infrastructure available outside

37. © Fujitsu Corporations
The initial stage involves creation of Architecture and Specification,
design partitioning and budgeting
• In coordination with the techno-marketing team
• Decide on the features to be supported, window of production and
release to market.

38. © Fujitsu Corporations
The engineering and procurement team, depending on the internal
expertise and funding, scope out the effort to meet the production
timeline.

39. © Fujitsu Corporations
In partnership with IP vendors and other vendors (e.g. for
semiconductor businesses, the EDA vendors, Design Services vendors,
Foundry, Packaging and Assembly vendors) to develop the final
product/chipset.

40. An IP example from the semiconductor sector
IP enabled servicesIP ecosystem
Source:
Design
& Reuse
Value proposition from IP vendor
•Silicon proven
•Interoperable
•One-stop-shop
•Partnerships
•Alliances
Value to customers
•Customization services
•Integration services
•Vertical knowledge based Value Added
Services
•Testing and deployment
•Support

41. Institutional, societal, and other
challenges
• Trust, security, and privacy
• Effective models of governance
• Creation of CPS business models
• Understanding the value of CPS• Understanding the value of CPS

42. Security and Privacy Issues in
Cyber-Physical SystemsCyber-Physical Systems

43. “The Internet of Things is a
security nightmare” - EFFsecurity nightmare” - EFF

44. "One way of protecting data is to
not collect it in the first place."not collect it in the first place."

45. Differences between corporate IT security and
CPS security
• Software patching and frequent updates, are not well
suited for control systems
– economically difficult to justify suspending the operation of an
industrial computer on a regular basis to install new security
patches
– Some security patches may even violate the certification of
control systemscontrol systems
• While availability is a well studied problem in information
security, real-time availability provides a stricter
operational environment than most traditional IT systems
• Large industrial control systems also have a large amount of
legacy systems
– most of the efforts done for legacy systems should be
considered as short-term solutions; underlying technology must
satisfy some minimum performance
• Network dynamics

46. New security problem in CPS/Control
systems
• Authentication, access control, message integrity,
separation of privilege, etc. can all help
– Traditionally focused on information (security)
• How attacks affect the estimation and control algorithms?
– Ultimately, how attacks affect the physical world
• Intrusion Detection Systems (IDSs) have not considered• Intrusion Detection Systems (IDSs) have not considered
algorithms for detecting deception attacks launched by
compromised sensor nodes against estimation and control
algorithms
– Dynamics of physical systems bring more challenges and set of
problems
• Information awareness to operators of control systems

47. Countermeasures
• Most of the effort for protecting control systems
has focused on reliability (the protection of the
system against random faults)
– urgent growing concern for protecting control systems
against malicious cyberattacksagainst malicious cyberattacks
• Dimensions
– Prevention
– Detection and recovery
– Resilience
– Deterrence

48. Prevention
• Introduction of cybersecurity standards
– North American Electric Corporation (NERC) cybersecurity
standards for electric systems
• NERC is authorized to enforce compliance to these standards, and it is
expected that all electric utilities are fully compliant with these
standards
– NIST
• SP 800-53—the guideline for security best practices which federal
agencies should meetagencies should meet
• Guide to Industrial Control System (ICS) Security
– ISA (International Society of Automation)
• ISA SP 99: a security standard to be used in manufacturing and
general industrial controls
– ETSI
• SCADA - Supervisory Control And Data Acquisition
– Standardisation efforts with respect to access control and key
management in wireless sensor networks
NIST Special Publication 800-53, "Security and Privacy Controls for Federal
Information Systems and Organizations,"

49. Detection and recovery
• Utilizing our knowledge of the physical systems, control
systems can provide a paradigm shift for intrusion
detection
– e.g. by monitoring the physical system for anomalies we
may be able to detect attacks that are undetectable from
the IT side, e.g. against resonance attack
• Identify deception attacks launched by compromised
controllers and/or sensors
• Identify deception attacks launched by compromised
controllers and/or sensors
• Implement a model-based detection scheme, e.g. as
game between the detector and the attacker
• Utilizing ideas from control theory such as
reconfiguration or fault-detection and isolation, to
design autonomous and real-time detection and
response algorithms for safety-critical applications that
require real-time responses

50. Resilience and deterrence
• Useful principles
– Redundancy as a way to prevent a single-point of failure
– Diversity as a way to prevent that a single attack vector
can compromise all the replicas (the added redundancy)
– Principle of least-privilege, and the separation of privilege
(also known as separation of duty) principle(also known as separation of duty) principle
• In CPS, physical and analytical redundancies should be
combined with security principles (e.g., diversity and
separation of duty) to adapt or reschedule its
operation during attacks
• Design novel robust control and estimation algorithms
that consider more realistic attack models from a
security point-of-view, e.g. Game Theory
• Deterrence

51. Strategic R&D opportunities for
cyber-physical systemscyber-physical systems

52. Robust, Effective Design and Construction of System
and Infrastructure
Science and
Engineering
Develop cost-effective system design, analysis, and
construction
Create domain-specific frameworks for design
Manage the role of time and synchronisation in Science and
Engineering
Foundations
(NIST)
Manage the role of time and synchronisation in
architecture design
Enable natural, more seamless human-CPS interactions
Develop systematic inter-process and inter-personal
communication for sensors and actuators

53. Improve Performance and Quality Assurance of
Computational and Physical Systems
System
Create methods for system-level evaluation, verification,
and validation of cyber-physical systems
Develop science-based metrics (e.g. security, privacy,
safety, resilience, adaptability, flexibility, reusability,
dependability) System
Engineering
Effectively characterize and quantify reliability amidst
uncertainty

54. Effective and Reliable System Integration and
Interoperability
Applied
Development &
Create universal definitions for representing ultra-
large scale heterogeneous systems
Build and inter-connected and interoperable shared Development &
Deployment
Build and inter-connected and interoperable shared
infrastructure
Develop abstraction infrastructure to bridge digital
and physical system components

55. Usecases
(See: enclosed slides)
1. CPS for green future mobile
networks
2. CPS for Smart Home – Smart
Grid

56. Motivation: forces behind recent
proliferation of robots
• Ever faster processors
• Cheaper sensors
• Abundant open-source code
• Ubiquitous connectivity
• Advent of 3D

57. Make it easier and safer for
humans to work side-by-side
Giving robots the tools to learn
the preferences of a human
coworker
Solving the problem of
scheduling a team of
heterogeneous agents to
complete a set of tasks with
(MIT, 2012)
complete a set of tasks with
upper and lower bound
temporal constraints and shared
resources (e.g., spatial locations)

58. Robotics applications
• Monitoring (environmental, security)
• Medical, e.g. tele-surgery, elderly care,
drug delivery, remote, non-invasive
examination
• Personal robotics
• Factory automation
• Agricultural robotics, critical
infrastructure systems

59. Robotics applications
• Monitoring (environmental, security)
• Medical, e.g. telesurgery, elderly care,
drug delivery, remote, non-invasive
examination
• Personal robotics
• Factory automation
• Agricultural robotics, critical
infrastructure systems
China wants to replace millions of workers
with robots, unprecedented in scale!
BRAIN SCIENCE PROJECT

60. Robotics: Myths and Facts
Robots are intended to eliminate jobs MYTH
Manufacturing and logistics must adopt
robots to survive
FACT
robots to survive
Autonomous robots are still too slow FACT
Robots are too expensive MYTH
Robots are difficult to use FACT
IEEE Spectrum

61. SUMMARY

62. Applications of cyber-physical systems and robotics (1)
Innovative Products or
Applications
Cyber-Physical Systems
and Robotics
Impacts
Smart manufacturing and Production
• Agile manufacturing
• Supply chain connectivity
• Intelligent control
• Process and assembly
automation
• Robotics working safely
with humans
• Enhanced
competitiveness
• Greater efficiency, agility,
and reliability
with humans
Innovative Products or
Applications
Cyber-Physical Systems
and Robotics
Impacts
Transportation and Mobility
•Autonomous or smart
vehicles (surface, air, water,
and space)
• Vehicle-to-vehicle and
vehicle-to-infrastructure
communication
• Drive by wire vehicle
systems
• Plug ins and smart cars
• Interactive traffic control
systems
• Next-generation air
transport control
• Accident prevention and
congestion reduction (e.g.
zero-fatality highways)
• Greater safety and
convenience of travel

63. Applications of cyber-physical systems and robotics (2)
Innovative Products or
Applications
Cyber-Physical Systems
and Robotics
Impacts
Energy
• Electricity systems
• Renewable energy supply
• Oil and gas production
• Smart electricity power
grid
• Plug-in vehicle charging
systems
• Smart oil and gas
• Greater reliability,
security and diversity of
energy supply
• Increased energy
efficiency• Smart oil and gas
distribution grid
efficiency
Innovative Products or
Application
Cyber-Physical Systems
and Robotics
Impacts
Civil infrastructure
• Bridges and dams
• Municipal water and
wastewater treatment
• Active monitoring and
control system
• Smart grids for water and
wastewater
• Early warning systems
• More safe, secure, and
reliable infrastructure
• Assurance of water
quality and supply
• Accident warning and
prevention

64. Applications of cyber-physical systems and robotics (3)
Innovative Products or
Applications
Cyber-Physical Systems Impacts
Healthcare
• Medical devices
• Personal care equipment
• Disease diagnosis and
prevention
• Wireless body area
networks
• Assistive healthcare
systems
• Wearable sensors and
implantable devices
• Improved outcomes and
quality of life
• Cost-effective healthcare
• Timely disease diagnosis
and prevention
Innovative Products and
Applications
Cyber-Physical Systems
and Robotics
Impacts
Building and Structure
• High performance
residential and commercial
building
• Net-zero energy buildings
• Appliances
• Whole building controls
• Smart HVAC equipment
• Building automation
systems
• Network appliance
systems
• Increased building
efficiency, comfort, and
convenience
• Improved occupant
health and safety
• Control of indoor air
quality

65. Applications of cyber-physical systems and robotics (4)
Innovative Products and
Applications
Cyber-Physical Systems
and Robotics
Impacts
Defense
• Soldier equipment
• Weapons and weapon
platforms
• Smart (precision-guided)
weapons
• Wearable
• Increased warfighter
effectiveness, security, and
agilityplatforms
• Supply equipment
• Wearable
computing/sensing
uniforms
• Intelligent, unmanned
vehicles
• Supply chain and logistics
systems
agility
• Decreased exposure for
human warfiighters and
greater capability for
remote warefare

66. Applications of cyber-physical systems and robotics (5)
Innovative Products or
Applications
Cyber-Physical Systems
and Robotics
Impacts
Emergency response
• First responder
equipment
• Communications
• Detection and
surveillance systems
• Resilient communications
• Increased emergency
responder effectiveness,
safety, efficiency, and• Communications
equipments
• Fire-fighting equipments
• Resilient communications
networks
• Integrated emergency
response systems
safety, efficiency, and
agility
• Rapid ability to respond
to natural and other
disaster
National Institute of Standards and Technologies
(NIST)

67. How to efficiently implement Smart
CPS/Robotics in my company?
• Technology transfer
• Standardization aspects
• Other aspects