Control in Cyber-Physical Systems

Control of
Cyber-Physical Systems
Bob Marcus
Co-Chair NIST Big Data PWG
robert.marcus@et-strategies.com
Caveat: This is a rough ﬁrst cut and will be revised extensively!
Tuesday, June 6, 17

Key Points on CPS Control - Initial Thoughts
• Large scale Cyber-Physical Systems (CPS) ingest physical data, perform analytics, and
generate commands that initiate actuator actions
• There are wide range of sensors, actuators, and analytics in large scale CPS.
• Implementing a system of systems across this wide range of possibilities is discussed
the slide set “Engineering Large Scale Cyber-Physical Systems” at
http://www.slideshare.net/bobmarcus/engineering-large-scale-cyberphysical-systems
• Due to the performance requirements, commands must be generated in a timely
fashion at an appropriate level in the CPS hierarchical architecture
• Command decisions based on large-scale analytics (e.g. Cloud-based) must be
harmonized with real-time decision requirements
• Alternatives for harmonization include direct commands from Cloud level, commands
from Cloud level used to constrain local decisions, and/or Cloud level commands are
implemented locally.
Tuesday, June 6, 17

Outline of Presentation
• Embedded Systems
• Nodes in Networked Embedded Systems
• Networked Embedded Systems
• Middleware for IoT
• IoT Standards
• IoT Layer Control
• Multilayer Control
• Robotics Control
• Berkeley Center for Hybrid and Embedded Systems (CHESS) Project
• Cyber Physical Social Systems
• References
Tuesday, June 6, 17

From Devices to Cyber-Physical-Social System (Bob Marcus)
Embedded
Systems
Networked
Embedded Systems
Internet of Things
Cyber-Physical Systems
Cyber-Physical-Social Systems
+ networking
+ multiple networks
+ analytics
+ collaboration
Devices
+ microprocessors
Tuesday, June 6, 17

Embedded System to IoT Conceptual Model from IERC
From http://www.internet-of-things-research.eu/pdf/Building_the_Hyperconnected_Society_IERC_2015_Cluster_eBook_978-87-93237-98-8_P_Web.pdf
Tuesday, June 6, 17

From Embedded to Cyber-Physical Systems
From http://ec.europa.eu/newsroom/dae/document.cfm?doc_id=428
Tuesday, June 6, 17

October 2016 Special Issue on CPS, IoT and Big Data
From www.journals.elsevier.com/future-generation-computer-systems/call-for-papers/special-issue-on-cyber-physical-systems-cps-internet-of-thin/
• Theoretical foundations of controlling/managing/monitoring of Cloud-assisted, IoT-based, large-scale
Cyber-physical Systems.
• System design methodologies for Cloud-assisted, IoT-based, large-scale Cyber-physical Systems.
• Software platforms for managing of Cloud-assisted, IoT-based, large-scale Cyber-physical Systems.
• Cyber security in Cloud-assisted, IoT-based, large-scale Cyber-physical Systems.
• Validation of Cloud-assisted, IoT-based, large-scale Cyber-physical Systems.
• Big Data Analytics for Cloud-assisted, IoT-based, large-scale Cyber-physical Systems.
• Sensor network protocols for Cloud-assisted, IoT-based, large-scale Cyber-physical Systems.
• Cloud-assisted, IoT-based, large-scale cyber-physical applications to automotive, manufacturing, supply
chain management, transportation & logistics, energy & environment, and healthcare.

Tuesday, June 6, 17

Embedded Systems
Tuesday, June 6, 17

Sensor Types
From https://en.wikipedia.org/wiki/List_of_sensors
・Acoustic, sound, vibration
・Automotive, transportation
・Chemical
・Electric current, electric potential, magnetic, radio(e.g. RFID)
・ Flow, ﬂuid velocity
・Ionizing radiation, subatomic particles
・Navigation instruments
・Position, angle, displacement, distance, speed, acceleration (e.g. GPS)
・Optical, light, imaging, photon
・Pressure
・ Force, density, level
・Thermal, heat, temperature
・Proximity, presence
Tuesday, June 6, 17

Actuator Types
From https://en.wikipedia.org/wiki/Actuator
Hydraulic - A hydraulic actuator consists of cylinder or fluid motor that uses hydraulic power to facilitate mechanical
operation.The mechanical motion gives an output in terms of linear, rotary or oscillatory motion. Because liquids are nearly
impossible to compress, a hydraulic actuator can exert considerable force.The drawback of this approach is its limited
acceleration.
The hydraulic cylinder consists of a hollow cylindrical tube along which a piston can slide.The term single acting is used when the
fluid pressure is applied to just one side of the piston.The piston can move in only one direction, a spring being frequently used to
give the piston a return stroke.The term double acting is used when pressure is applied on each side of the piston; any difference in
pressure between the two side of the piston moves the piston to one side or the other.
Pneumatic - Pneumatic rack and pinion actuators for valve controls of water pipes
A pneumatic actuator converts energy formed by vacuum or compressed air at high pressure into either linear or rotary motion.
Pneumatic energy is desirable for main engine controls because it can quickly respond in starting and stopping as the power source
does not need to be stored in reserve for operation.
Pneumatic actuators enable large forces to be produced from relatively small pressure changes.These forces are often used with
valves to move diaphragms to affect the flow of liquid through the valve
Electric - An electric actuator is powered by a motor that converts electrical energy into mechanical torque.The electrical
energy is used to actuate equipment such as multi-turn valves. It is one of the cleanest and most readily available forms of actuator
because it does not involve oil.
Thermal or magnetic (shape memory alloys) - Actuators which can be actuated by applying thermal or magnetic energy
have been used in commercial applications.They tend to be compact, lightweight, economical and with high power density.These
actuators use shape memory materials (SMMs), such as shape memory alloys (SMAs) or magnetic shape-memory alloys (MSMAs).
Some popular manufacturers of these devices are Finnish Modti Inc. and American Dynalloy.
Mechanical - A mechanical actuator functions by converting rotary motion into linear motion to execute movement. It involves
gears, rails, pulleys, chains and other devices to operate.An example is a rack and pinion.
Tuesday, June 6, 17

Examples of Actuators
From https://en.wikipedia.org/wiki/Actuator
• Comb drive
• Digital micromirror device
• Electric motor
• Electroactive polymer
• Hydraulic cylinder
• Piezoelectric actuator
• Pneumatic actuator
• Servomechanism
• Thermal bimorph
• Screw jack
Tuesday, June 6, 17

“An embedded system is a computer system with a dedicated function within a larger mechanical or
electrical system, often with real-time computing constraints.It is embedded as part of a complete device
often including hardware and mechanical parts. Embedded systems control many devices in common use
today. 98 percent of all microprocessors being manufactured are used in embedded systems.”
From http://itsallaboutembedded.blogspot.com/2013/03/applications-of-embedded-systems.html
Embedded System
From https://en.wikipedia.org/wiki/Embedded_system
Tuesday, June 6, 17

From http://www.mdpi.com/1424-8220/8/9/5501/pdf
Embedded Control for a Device
Tuesday, June 6, 17

From http://www.slideshare.net/IntelSoftware/overview-of-the-intel-internet-of-things-developer-kit
Intel Development Kit for the Internet of Things
Tuesday, June 6, 17

From http://www.slideshare.net/IntelSoftware/overview-of-the-intel-internet-of-things-developer-kit
Intel Development Kit for the Internet of Things continued
Tuesday, June 6, 17

Classes of Devices
From http://embedded-computing.com/25942-leveraging-iot-security-to-improve-roi/
Tuesday, June 6, 17

From http://leeseshia.org/releases/LeeSeshia_DigitalV2_0.pdf
Downloadable Book on Embedded Systems (589 pages)
Tuesday, June 6, 17

From http://web.eecs.umich.edu/~jfr/embeddedctrls/ﬁles/embedded_controls_intro_W09.pdf
Characteristics of Embedded Control Systems
• Interface with external environment
– sensors and actuators
• “Real time” critical
– performance and safety
– embedded software must execute in synchrony with physical system
• Distributed control
– networks of embedded microprocessors
Tuesday, June 6, 17

From http://www.infoq.com/news/2012/10/java-me-embedded-java-embedded-s
Java ME Embedded Stack
Tuesday, June 6, 17

From http://tinyurl.com/zcj4nje
8 IoT Operating Systems
• RIOT OS
http://www.riot-os.org/
• Windows 10 for IoT
https://www.microsoft.com/en-us/WindowsForBusiness/windows-iot
• WindRiverVX Works
http://windriver.com/products/vxworks/
• Google Brillo with Weave
https://developers.google.com/brillo/ and https://developers.google.com/weave/
• ARM Mbed OS
https://www.mbed.com/en/
• Apple Homekit
http://appleinsider.com/articles/15/10/02/apples-homekit-gets-support-from-mediatek-via-iot-chip-sdks-aimed-at-appliances-small-devices
• Nucleus RTOS from Mentor Graphics
https://www.mentor.com/embedded-software/nucleus/
• Green Hills Integrity
http://www.ghs.com/products/rtos/integrity.html
Tuesday, June 6, 17

From http://itsallaboutembedded.blogspot.com/
Embedded System Block Diagram
Tuesday, June 6, 17

From http://www.slideshare.net/ArpanPal/cps-isi
Embedded Systems vs CPS from Tata
Tuesday, June 6, 17

From http://www.cbronline.com/news/internet-of-things/smart-technology/5-out-of-this-world-nanotechnologies-driving-future-iot-4671393
5 Nanotechnologies for the Future of IoT
1. Nanotubes - Carbon nanotubes are a nanotechnology constructed with a length-to-diameter ratio of up to
132,000,000:1. Uses of the solution span from incorporation in portable electronics to help fighting against cancer and
creating artificial muscles.Applications of the technology could include fighting oil spills but scientists are mainly
focused in using nanotubes inside the human body, more precisely in blood veins.
2. Stretchable electronics - Recent rumors about Samsung's 2016 foldable smartphone launch could soon be
overshadowed in the future by a resistant, stretchy mobile phone. Researchers from the University of Cambridge have
developed what they call "stretchable gold", a nanotechnology that can bend and allow for multiple IoT applications not
only in the mobile phone space, but also in the retail and healthcare sectors.
3. Bleeding plastic - Scientists have also developed a bleeding plastic with self-healing capabilities that could put an
end to nearly everything getting broken, including cars, airplanes or everyday devices. The thermoplastic solution can
also be heated up and suffer alterations in its shape and form to repair an object that has been broken.
4. Nano-nodes - Nano-nodes are nanomachines with the capability to perform simple computatio,n but could be
used in the future to make nearly every object and person connected to the Internet. For example, nano-nodes placed
inside someone's body would communicate to a nano-router. All the nano-routers placed in the body then
communicate to a nano-micro interface via nano-links.Once the information reaches the nano-micro interface, this will
communicate with the "outside" world to a gateway and that gateway links to the internet.
5. Nanoantennas - Nanoantennas are a new emerging technology that could help power wearables, smarten up
buildings or keep lights on. Researchers explained that future applications of the technology could include powering up
hybrid cars to any other everyday devices with a better efficiency rate than traditional solar cells.Other nanoantennas'
applications include cooling down devices that draw waste heat from buildings or electronics without using electricity.
Tuesday, June 6, 17

From http://www2.ece.gatech.edu/research/labs/bwn/surveys/nanothings.pdf
Internet of Nano-Things from Georgia Tech
Tuesday, June 6, 17

From http://tinyurl.com/he85ydj
Nanotechnology Applications from SMART-ACTION Consortium
Tuesday, June 6, 17

Nodes in
Networked Embedded Systems
Tuesday, June 6, 17

Sensor Node Architecture
From www.mdpi.com/1424-8220/11/6/5900/htm
Tuesday, June 6, 17

Architecture of a CPS Node and Environment from NIST
From https://s3.amazonaws.com/nist-sgcps/cpspwg/pwgglobal/CPS_PWG_Draft_Framework_for_Cyber-Physical_Systems_Release_0_8_September_2015.pdf
Tuesday, June 6, 17

From https://www.efxkits.co.uk/microcontroller-based-arduino-projects-for-beginners-in-electronics/
Example Use of Arduino for Home Automation
Tuesday, June 6, 17

From www.oracle.com/technetwork/articles/java/cruz-gpio-2295970.html
Example Use of Raspberry Pi as Sensor Hub
Tuesday, June 6, 17

From http://www.movea.com/news/electronic-design-interview-moveas-tim-kelliher-discusses-sensor-fusion-trends/
InvenSenses Movea’s Sensor Hub Architecture
Tuesday, June 6, 17

CPS Node Architecture from NIST
From http://tinyurl.com/oyo7h9n
Tuesday, June 6, 17

From https://www.cs.virginia.edu/wsn/nest.html
Wireless Sensor Network Node Architecture from U ofVa
Tuesday, June 6, 17

Summary of Operating Systems for Wireless Sensor Node Devices
Tuesday, June 6, 17

From www.mdpi.com/1424-8220/11/6/5900/htm http://people.eecs.berkeley.edu/~culler/talks/
Culler-CWSN.pptx
TinyOS for IoT Devices from TinyOs Alliance
Tuesday, June 6, 17

From http://people.eecs.berkeley.edu/~culler/talks/Culler-CWSN.pptx
TinyOS Framework for Innovation in 2011
Tuesday, June 6, 17

Contiki OS for IoT Devices from Adam Dunkels
Tuesday, June 6, 17

Mantis OS for IoT Devices from U of Colorado
Tuesday, June 6, 17

Nano RK OS for IoT Devices from CMU
Tuesday, June 6, 17

LiteOS for IoT Devices from the U of Illinois
Tuesday, June 6, 17

From https://www.arm.com/products/internet-of-things-solutions/mbed-IoT-device-platform.php
mbed OS for IoT Devices from ARM
Tuesday, June 6, 17

Networked Embedded Systems
Tuesday, June 6, 17

Networking Alternatives for IoT
From http://radar.oreilly.com/2014/04/3-topologies-driving-iot-networking-standards.html
Tuesday, June 6, 17

IoT Network Architecture from Electronic Design
From electronicdesign.com/iot/successful-internet-things-hinges-m2m
Tuesday, June 6, 17

IoTVendor Landscape from Matt Turck
From http://www.slideshare.net/mjft01/internet-of-things-42280078
Tuesday, June 6, 17

M2M Landscape
https://innovationtracker.wordpress.com/tag/devicehive/
Tuesday, June 6, 17

Horizontal M2M Platform from Alcatel-Lucent
From http://www.slideshare.net/motive_alu/alcatel-lucent-motive-team-motivation-2013-onem2m-global-standards
Tuesday, June 6, 17

Wireless Sensor Network
From https://en.wikipedia.org/wiki/Wireless_sensor_network
A wireless sensor network (WSN) (sometimes called a wireless sensor and actuator network
(WSAN)) are spatially distributed autonomous sensors to monitor physical or environmental
conditions, such as temperature, sound, pressure, etc. and to cooperatively pass their data through
the network to a main location. The more modern networks are bi-directional, also enabling
control of sensor activity.

Tuesday, June 6, 17

From: http://tinyurl.com/hj7kgh5
Wireless Sensor and Actuator Networks Control from Dalian U
Tuesday, June 6, 17

From http://www.slideshare.net/SERENEWorkshop/andras-pataricza-serene2014school-41797621
W3C Semantic Sensor Network from Budapest University
Tuesday, June 6, 17

Knowledge Driven Semantic Sensor Web from Tata
Tuesday, June 6, 17

From: http://nlpr-web.ia.ac.cn/mmc/workshop/slides/Koji_Zettsu.pdf
Cyber-Physical-Social Sensor Service (CPSenS) from NICT
Tuesday, June 6, 17

Middleware for IoT
Tuesday, June 6, 17

From: http://postscapes.com/internet-of-things-software-guide
Middleware for IoT
ProSyst - Internet of Things Connector.We do the middleware to make connected things and devices smart and enable value
driven innovation.
MundoCore - The communication middleware MundoCore was specifically designed for the requirements in mobile and
ubiquitous systems. MundoCore is based on a microkernel design, supports dynamic reconfiguration, and provides a common
set of APIs for different programming languages (Java, C++, Python) on a wide range of different devices.The architectural
model addresses the need for proper language bindings, different communication abstractions (Publish/Subscribe, Distributed
Object Computing, and streaming), peer-to-peer overlays, different transport protocols, different invocation protocols, and
automatic peer discovery.
Gaia: - Gaia brings the functionality of an operating system to physical spaces. Common operating system functions are
supported, such as events, signals, file system, security, processes, process groups, etc. Gaia extends typical operating system
concepts to include context, location awareness, mobile computing devices and actuators like door locks and light switches.
Ubiware: - Ubiware will allow creation of self-managed complex industrial systems consisting of distributed, heterogeneous,
shared and reusable components of different nature, e.g. smart machines and devices, sensors, actuators, RFIDs, web-
services, software components and applications, humans, etc.
SensorWare - The framework that allows easy, efficient dynamic programmability for sensor networks.
ROS (Robot Operating System) - Provides libraries and tools to help software developers create robot applications. It
provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is
licensed under an open source, BSD license.
SensorBus - The Sensor Bus establishes an intermediary layer between geosensor networks and the Sensor Web to close the
conceptual gap between these two distinct layers resulting from different protocol stacks and data models.Thereby, the
Sensor Bus facilitates the integration of new sensors as well as new sensor web services.
Tuesday, June 6, 17

From: http://postscapes.com/internet-of-things-software-guide
Middleware for IoT continued
EEML: Extended Environments Markup Language - A protocol for sharing sensor data between remote responsive environments,
both physical and virtual. It can be used to facilitate direct connections between any two environments
SensorML - The OpenGIS Sensor Model Language Encoding Standard (SensorML) speciﬁes models and XML encoding that
provide a framework within which the geometric, dynamic, and observational characteristics of sensors and sensor systems can
be deﬁned.
Websockets - A technology providing for bi-directional, full-duplex communications channels, over a single TCP socket. It is
designed to be implemented in web browsers and web servers, but it can be used by any client or server application.The
WebSocket API is being standardized by the W3C, and the WebSocket protocol is being standardized by the IETF.
IBM MessageSight: - IBM MessageSight extends messaging networks with extreme transaction rates, massive scale, and predictable
low latency. It delivers messaging for the edge of the enterprise to reach out to the expanding Internet of Things, the dramatic
scaling in the number of concurrent devices that can be connected with timely information.
MQTT - MQ Telemetry Transport - The MQTT protocol enables a publish/subscribe messaging model in an extremely lightweight
way. It is useful for connections with remote locations where a small code footprint is required and/or network bandwidth is at a
premium.
Koneki - The Koneki project delivers tools for Machine-to-Machine solutions developers to help them develop, simulate, test and
deploy their M2M applications.
MIHINI - The Mihini project delivers an embedded runtime running on top of Linux, that exposes an high-level Lua API for
building Machine-to-Machine applications.
oBIX (Open Building Information Xchange) - A focused effort by industry leaders and associations working toward creating a
standard XML and Web Services guideline to facilitate the exchange of information between intelligent buildings, enable
enterprise application integration and bring forth true systems integration.
Constrained Application Protocol (CoAP) - A specialized RESTful (Representational State Transfer) protocol for use with
constrained networks and nodes for machine-to-machine applications such as smart energy and building automation.
Tuesday, June 6, 17

IoT Standards
Tuesday, June 6, 17

Fractured CPS Standards
From http://tinyurl.com/gv38c78
Tuesday, June 6, 17

From http://www.slideshare.net/honbozhou/uniﬁed-middleware-for-internet-of-things
Internet of Things Standards Matrix
Tuesday, June 6, 17

IoT Standards Maturity from IERC
From http://www.internet-of-things-research.eu/pdf/Building_the_Hyperconnected_Society_IERC_2015_Cluster_eBook_978-87-93237-98-8_P_Web.pdf
Tuesday, June 6, 17

OPC Universal Architecture (UA)
From https://opcfoundation.org/about/opc-technologies/opc-ua/
OPC is the interoperability standard for the secure and reliable exchange of data in the industrial automation space
and in other industries. It is platform independent and ensures the seamless ﬂow of information among devices
from multiple vendors. The OPC Foundation is responsible for the development and maintenance of this standard.
With the introduction of service-oriented architectures in manufacturing systems came new challenges in security
and data modeling. The OPC Foundation developed the OPC UA speciﬁcations to address these needs and at the
same time provided a feature-rich technology open-platform architecture that was future-proof, scalable and
extensible.
Tuesday, June 6, 17

Open Interconnect Consortium (OIC) Core Framework Spec
From http://openconnectivity.org/wp-content/uploads/2016/01/OIC_Speciﬁcation_Overview_201501131.pdf
Tuesday, June 6, 17

OIC Core Framework Basic Operation
From http://openconnectivity.org/wp-content/uploads/2016/01/OIC_Speciﬁcation_Overview_201501131.pdf
Tuesday, June 6, 17

From http://openconnectivity.org/
New Open Connectivity Foundation incorporating OIC
Billions of connected devices (devices, phones, computers and sensors) should be able to
communicate with one another regardless of manufacturer, operating system, chipset or physical
transport. The Open Connectivity Foundation (OCF) is creating a specification
and sponsoring an open source project to make this possible. OCF will unlock the massive
opportunity in the IoT market, accelerate industry innovation and help developers and companies
create solutions that map to a single open specification. OCF will help ensure secure
interoperability for consumers, business, and industry.
The OCF unifies the entirety of the former Open Interconnect Consortium (OIC) with leading
companies at all levels – silicon, software, platform, and finished-goods – dedicated to providing
this key interoperability element of an IoT solution. The OCF sponsors the IoTivity open source
project which includes a reference implementation of our specification available under the
Apache 2.0 license. The OCF also includes all the activities formerly sponsored by UPnP Forum.
Tuesday, June 6, 17

From http://www.slideshare.net/MichaelKoster/ietf91-ad-hoccoaplwm2mipso-4157527
An Internet of Things Standards Stack
Tuesday, June 6, 17

From http://www.slideshare.net/OpenMobileAlliance/oma-lwm2m-workshop-michael-koster-ipso-alliance-objects
IPSO Alliance Smart Objects
Tuesday, June 6, 17

From http://www.slideshare.net/michaeljohnkoster/iot-toolkit-and-the-smart-object-api-architecture-for-interoperability
IoT 2 and Smart Objects API
Tuesday, June 6, 17

From http://www.slideshare.net/michaeljohnkoster/iot-toolkit-and-the-smart-object-api-architecture-for-interoperability
IoT 2.0 - Interoperability
Tuesday, June 6, 17

From https://code.google.com/p/uniboard/wiki/Telnet_Server_implementation
uIP Protocol Stack for Networked Embedded Systems
Tuesday, June 6, 17

From http://www.slideshare.net/MichaelKoster/ietf91-ad-hoccoaplwm2mipso-4157527
OMA Light Weight M2M Reference Architecture
Tuesday, June 6, 17

From http://bytecontinnum.com/2015/08/rest-for-wot-with-coap/
Web Access to Devices using CoAP Proxy
Tuesday, June 6, 17

From https://openwsn.atlassian.net/wiki/display/OW/Overview+Slides
CoAP Applications on OpenWSN from Berkeley
Tuesday, June 6, 17

From https://openwsn.atlassian.net/wiki/display/OW/Overview+Slides
6LoWPAN to Internet Integration
Tuesday, June 6, 17

From www.slideshare.net/asobimat/rpl-dodag
Routing Algorithm for Low Power and Lossy Networks (RPL)
Tuesday, June 6, 17

From http://www.slideshare.net/BryanBoyd/mqtt-austin-api
MQTT support Publish-and-Subscribe Messaging
Tuesday, June 6, 17

From http://www.slideshare.net/MichaelKoster/rest-ap-is-for-iot
MQTT Observer Connects REST Resource to MQTT Topic
Tuesday, June 6, 17

Data Distribution Service (DDS) for Internet of Things
From http://blog.omg.org/2014/12/omgs-data-distribution-service-the-internet-of-things-fabric.htm
Tuesday, June 6, 17

OneM2M in Standardization Landscape
From http://www.slideshare.net/motive_alu/alcatel-lucent-motive-team-motivation-2013-onem2m-global-standards
Tuesday, June 6, 17

IoT Layer Control
Tuesday, June 6, 17

From http://tinyurl.com/q94vgxf
Technologies Converging to Internet of Things
Tuesday, June 6, 17

From http://cps-vo.org/ﬁle/22521/download/66384
Adding Control to IoT Systems
Tuesday, June 6, 17

From http://www.embedded.com/design/real-world-applications/4426952/2/Building-an-IoT-for-industrial-control--Part-1--What-is-Industrial-IoT-
• Memory and performance tradeoffs for Systems on a Chip (SoC)
• Network scalability
• Ad hoc self-organizing capabilities
• Data logging
• Backwards compatibility
• Node data exchange
• Interoperability
• Operator access to nodes
Requirements for Industrial Internet of Things Control Services
Tuesday, June 6, 17

From http://www.embedded.com/design/real-world-applications/4426952/Building-an-IoT-for-industrial-control--Part-1--What-is-Industrial-IoT
Internet of Things - Types
Tuesday, June 6, 17

From http://www.slideshare.net/paolopat/io-t-protocols-landscape
IoT Communication Patterns
Tuesday, June 6, 17

From https://www.linkedin.com/pulse/messaging-based-architecture-iot-beautiful-music-from-chatterjee
Messaging-based Architecture for IoT
Tuesday, June 6, 17

From https://en.wikibooks.org/wiki/Embedded_Control_Systems_Design/A_design_example_1
An Example of Networked Embedded Control for People Mover
Tuesday, June 6, 17

From: http://www.slideshare.net/FrancescoRago/meetup-48377217
Generic Control Communication Structure from Megatris
Tuesday, June 6, 17

From: http://www.slideshare.net/FrancescoRago/meetup-48377217
Generic Control Feedback Loop Structure from Megatris
Tuesday, June 6, 17

From http://www.slideshare.net/sani9585/cyber-physical-system-architecture-applicationsand-research-challenges
Cyber-Physical Architecture from Kyungpook U in Korea
Tuesday, June 6, 17

From http://tinyurl.com/godcjc5
Example of a Cyber-Physical System from Book by Lee and Seshia
Tuesday, June 6, 17

From www.slideshare.net/RockwellAutomation/online-development-inc-oldi-modulebased-data-transfer-options-for-controllogix-including-opc-ua
OPC Uniﬁed Architecture from the OPC Foundation
Tuesday, June 6, 17

From http://www.slideshare.net/InduSoft/opc-ua-connectivity-with-indusoft-and-the-opc-foundation
Requirements for OPC Uniﬁed Architecture
Tuesday, June 6, 17

From www.slideshare.net/badaindonesia/tizen-overview-and-architecture-seokjae-jeong-samsung-korea-linux-forum-2012
Linux Foundation’s Tizen APIs from Samsung
Tuesday, June 6, 17

From https://www.icsgozo.com/ishop/samsung-optical-smathub-se-208bw--network-drive
Optical Smart Hub from Samsung
Tuesday, June 6, 17

From https://www.lonmark.org/connection/presentations/2011/Q1/AHR/01+Intro+to+LonWorks+Technology--Echelon.pdf
Echelon’s Lonworks Ecosystems
Tuesday, June 6, 17

From http://info.echelon.com/rs/echelon/images/M2M-IIoT-Control-networking-2.0-whitepaper.pdf
Echelon’s IzoT Framework (Successor to LonWorks)
Tuesday, June 6, 17

From http://www.bacnet.org/Tutorial/HMN-Overview/sld029.htm
BACnet LAN Gateway to External LANs
Tuesday, June 6, 17

Multilayer Control
Tuesday, June 6, 17

Challenges in Multi-Level Decision Making
Tuesday, June 6, 17

Technical Requirements for WSN vs CPS
From http://www.mdpi.com/1424-8220/15/4/7172/pdf
Tuesday, June 6, 17

Contradictory Requirements Driving CPS Innovation from Siemens
From http://www.slideshare.net/heisss/cyberphysical-systems-49324556
Tuesday, June 6, 17

Reference: Research Challenges for CPS from Multiple Universities
From http://atlas.cs.virginia.edu/~stankovic/psﬁles/Rajkumar-DAC2010-Final.pdf
Robustness, Safety, and Security of CPS: Uncertainty in the environment, security attacks, and errors in
physical devices make ensuring overall system robustness, security, and safety a critical challenge. Security
solutions can exploit the physical nature of CPS by leveraging location-based, time-based and tag-based
mechanisms.
Control and Hybrid Systems: A new calculus must merge time-based systems with event-based systems
for feedback control.This calculus must apply to hierarchies involving asynchronous dynamics at different time
scales (from months to microseconds) and geographic scope (from on-chip to planetary scale).
Computational Abstractions: Physical properties such as the laws of physics and chemistry, safety, real-time
and power constraints, resources, robustness, and security characteristics should be captured in a composable
manner by programming abstractions.
Architecture: CPS architectures must be consistent at a meta-level and capture a variety of physical
information. New network protocols must be designed for large-scale CPS.An innovative paradigm can be built
around the notion of being “globally virtual, locally physical”.
Real-Time Embedded Systems Abstractions: Bandwidth allocation protocols, new queuing strategies,
and new routing schemes (including resource virtualization) can reduce and accommodate network delays.
Networks must provide for real-time resource allocation, data aggregation, global snapshots, in-network decision
making, and the ability to provide QoS. Faults must be handled. Scalability is essential. New distributed real-time
computing and real-time group communication methods are needed.
Tuesday, June 6, 17

Research Challenges for CPS from Multiple Universities continued
From http://atlas.cs.virginia.edu/~stankovic/psfiles/Rajkumar-DAC2010-Final.pdf
CPS Composition:The “science” of composition is one of the grand themes driving many research questions
in networking and distributed systems.
Sensor and Mobile Networks: The need for increased system autonomy in practice requires self-organizing
(and re-organizing) mobile and ad hoc CPS networks. Knowledge creation from the vast amount of raw data being
collected will be essential.
Model-based Development of CPS: Models are used today to generate and test software
implementations of control logic.Abstractions that cover the entire CPS design space must be developed,
modified and integrated. Communications, computing and physical dynamics must be abstracted and modeled at
different levels of scale, locality, and time granularity.
Verification, Validation, and Certification of CPS: The gap between formal methods and testing needs
to be bridged. Compositional verification and testing methods that explore the heterogeneous nature of CPS
models are essential.V&V must also be incorporated into certification regimes.
Education and Training: Scientists and engineers who are properly trained in the fundamentals of
computation, control, networking, and software engineering are critically needed. CPS basics need to be added to
the lingua franca of all technical graduates. Creative trade-offs between depth and breadth may need to be
adopted.
Tuesday, June 6, 17

Ideas for CPS Architecture and Platforms from NIST Workshop
From http://www.nist.gov/el/upload/CPS-WorkshopReport-1-30-13-Final.pdf
• Create an application speciﬁc open source platform that the CPS community can collaboratively populate and
strengthen
• Utilize a platform for interoperability, allowing for automatic negotiation of function and capabilities
• Develop a layered architecture that is not subverted by issues of time, (e.g., a three layered architecture
encompassing communications, utility, and value added)
• Apply understanding of biological or social systems to promote radical CPS architecture and platforms design
• Utilize abstractions that encapsulate multiple aspects (e.g., functional, behavioral, timing, quality of service, quality
of control) and multiple layers (e.g., application, network, and physical layers)
• Utilize plug and play components that produce predictable results, even for unanticipated interactions
• Employ automatic adapting and reconﬁguring architecture in response to failed/aging/drifting components
• Deploy architecture containing multi-level “safety nets” and security defenses
• Develop architectures that treat every component, product, and person as an active “node” on a network, for
consumers and producers of information
Tuesday, June 6, 17

From http://forklog.net/the-way-iot-and-blockchain-change-the-world/
IoT Resource Management and Process Automation
Tuesday, June 6, 17

OpenIoT Control Loop
From http://www.amazon.com/Interoperability-Open-Source-Solutions-Internet-Things/dp/3319165453
Tuesday, June 6, 17

From Fast Data and Enterprise Architecture e-book at
https://drive.google.com/ﬁle/d/0B7BBDfRwGErZQm1CV2VHcnlCVWM/view
Example of Response Times Needed for Data Processing
Tuesday, June 6, 17

From http://wso2.com/wso2_resources/wso2_whitepaper_iot-analytics-using-big-data-to-architect-iot-solutions.pdf
Data Volume and Response Times Mapped to Analytic Tools
Tuesday, June 6, 17

From http://electronicdesign.com/iot/understanding-protocols-behind-internet-things
Example of Response Times Needed for Messaging Protocols
Tuesday, June 6, 17

Multilayer Architecture from Cisco
From http://tf.nist.gov/seminars/WSTS/PDFs/1-0_Cisco_FBonomi_ConnectedVehicles.pdf
Tuesday, June 6, 17

Multilayer Control Architecture from Cisco
From http://tf.nist.gov/seminars/WSTS/PDFs/1-0_Cisco_FBonomi_ConnectedVehicles.pdf
Tuesday, June 6, 17

CPS Example: Multi-Level Trafﬁc Management by Bob Marcus
Vehicle Internal Systems (e.g. Collision Avoidance)
Change Road Network (e.g. from Historical Analytics)
(Days to Weeks)
Near Real Time Guidance (e.g.Trafﬁc Based Routing)
(Seconds to Minutes)
(Sub-seconds to Seconds)
Expected Delay Warning (e.g. from Predictive Analytics)
(Hours to Days)
Tuesday, June 6, 17

Hierarchical Real-Time Control System (RCS) by Albus
From https://en.wikipedia.org/wiki/Hierarchical_control_system
Tuesday, June 6, 17

Node in Real-Time Control System (RCS) by Albus
From http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19960047549.pdf
Tuesday, June 6, 17

DetailedView of Node in Real-Time Control System (RCS) by Albus
From https://en.wikipedia.org/wiki/4D-RCS_Reference_Model_Architecture
Tuesday, June 6, 17

Hierarchical Control from Oak Ridge
From http://web.ornl.gov/sci/electricdelivery/pdfs/ORNL_Cybersecurity_Through_Real-Time_Distributed_Control_Systems.pdf
Tuesday, June 6, 17

Simple
Event
Processing
Complex
Event
Processing
Hierarchical C4ISR Flow Model from Bob Marcus
Preprocess
In
Input
Devices
u
World
Model
Update
New
World
Model
StrategyTactics
HQ
Operations
Field
Operations
Situation ImpactObject Process
Simple
Response
Complex
Response
Update Plan
Create New
Goals and Plan
Sensor and
Effects
Management
In
Actuator
Devices
Measurement
Field
Processors
Data Structured Data Information Knowledge Wisdom
Devices
Awareness
Decision
Adapted From http://www.et-strategies.com/great-global-grid/Events.pdf
Tuesday, June 6, 17

From www.geautomation.com/news/ge-contributes-armys-victory-industry-group
Victory Data Bus for C4ISR
Tuesday, June 6, 17

From https://www.larus.com/products/
High Level Information Fusion Engine (HLIFE) from Larus
Tuesday, June 6, 17

From http://www.slideshare.net/ImreKocsis1/towards-cyberphysical-system-technologies-over-apache-vcl
Cyber-Physical Systems using ApacheVCL
Tuesday, June 6, 17

From http://www.slideshare.net/ImreKocsis1/towards-cyberphysical-system-technologies-over-apache-vcl
Cyber-Physical Systems using ApacheVCL continued
Tuesday, June 6, 17

From https://en.wikipedia.org/wiki/Cyber-physical_system
Original at http://imscenter.net/cyber-physical-platform
Multi-Levels for Cyber-Physical Systems Maintenance
Tuesday, June 6, 17

From www.designworldonline.com/big-future-for-cyber-physical-manufacturing-systems/
1. Connection: In the connection level, the data generated by connected machines, tools and products is gathered so it can be pushed up through
the next levels.
2. Conversion: This level converts data to information using algorithms that are based on the application. For example, consider raw vibration
data from a machine tool in a production line. The raw data carries no knowledge about the health or status of the machine. But health
assessment algorithms can extract pertinent features and use them to get knowledge about the status of the machine.
3. Cyber: The cyber level receives processed information from the level below and uses it to create additional value. This level acts as the hub
for information and performs complex analytics. For example, the cyber level might run sophisticated fleet-based analytical methods. These
compare similar assets in a fleet or group (such as specific kinds of manufacturing machines in a single facility). It might run deep-learning
algorithms to identify patterns in a large set of fleet data. Recommender systems, special algorithms that seek to predict the “rating” or
“preference” for an item, might recommend the best way to use each individual asset.
It might seem as though the cyber and conversion levels do similar tasks. The major difference between the two is the scope of input information
and the target of the algorithms. The conversion level is more focused on individual assets while the cyber level uses data from the entire system
to infer additional knowledge. It is possible to perform conversion level analytics locally, at individual sensor nodes, say. But cyber-level
methods take place on a central computation hub such as the cloud.
4. Cognition: The cognition level may be able to convert machine signals to health information and compare this information with other
instances of it. In cognition level, the machine itself should take advantage of online monitoring to diagnose its own potential failures and
become aware of its potential degradation in advance of any obvious signs of trouble. Based on adaptive learning from historical health
evaluations, the system then can use specific prediction algorithms to foresee a potential failure and estimate the time to reach certain kinds of
failures.
5. Configuration: A machine able to track its own health can detect failures early on and send health monitoring information to the operation
level. This maintenance information can serve as feedback to business management systems. Operators and factory managers, in turn, can use it
to make informed decisions. At the same time, the machine itself can adjust its working load or manufacturing schedule to reduce down time
caused by machine malfunctions. The overall goal of these measures is to produce a system that is resilient—able to defend itself from
difficulties by changing its own behaviors and preventing cascading failures that would otherwise disrupt operations.
Multi-Levels for Cyber-Physical Systems Maintenance continued
Tuesday, June 6, 17

From http://www.mdpi.com/1424-8220/15/4/7172/htm
Cyber-Physical Systems Domains
Tuesday, June 6, 17

From http://www.dtc.umn.edu/resources/bd_darema.pdf
Dynamic Data-Driven Applications Systems (DDDAS)
Tuesday, June 6, 17

From www.iebmedia.com/index.php?id=10716&parentid=63&themeid=255&hft=86&showdetail=true&bb=1
Industrial Internet of Things Framework from ICC
Tuesday, June 6, 17

From www.slideshare.net/Cisco/building-the-internet-of-things-trusted-security
Management for IoT Foundation Services from IBM
Tuesday, June 6, 17

http://dupress.com/articles/iot-primer-iot-technologies-applications/
InformationValue Loop for IoT from Deloitte
Tuesday, June 6, 17

From https://en.wikipedia.org/wiki/Prescriptive_analytics
“Prescriptive analytics automatically synthesizes big data, multiple disciplines of
mathematical sciences and computational sciences, and business rules, to make predictions
and then suggests decision options to take advantage of the predictions.“
“... goes beyond predicting future outcomes by also suggesting actions to beneﬁt from the
predictions and showing the implications of each decision option”
Prescriptive Analytics in Cloud
Tuesday, June 6, 17

From http://www.slideshare.net/IBMBluemix/using-watson-to-build-cognitive-io-t-apps-on-bluemix-ﬁnal
Cognitively Enabled Watson IoT Solutions from IBM
Tuesday, June 6, 17

Berkeley Center for Hybrid and
Embedded Systems (CHESS) Projects
Tuesday, June 6, 17

From http://cyberphysicalsystems.org/
Cyber-Physical System - a Concept Map
Tuesday, June 6, 17

Center for Hybrid and Embedded Software Systems (CHESS)
From http://ptolemy.eecs.berkeley.edu/presentations/03/citrismembers2-03.pdf
Tuesday, June 6, 17

TerraSwarm Analytic Framework
From http://www.terraswarm.org/ResearchHighlights/
Tuesday, June 6, 17

TerraSwarm Research Center Themes
From http://www.slideserve.com/ronna/an-overview-of-the-terraswarm-research-center
Tuesday, June 6, 17

TerraSwarm Research Center
Problem Space
Tuesday, June 6, 17

TerraSwarm SwarmOS Services
Tuesday, June 6, 17

Industrial Cyber-Physical Systems (iCyPhy)
From http://www.icyphy.org/pubs/34/FisherEtAl_iCyPhy.pdf
Research Needs
Tuesday, June 6, 17

PTIDES
PTIDES = (Programming Temporally Integrated Distributed Embedded Systems)
Tuesday, June 6, 17

ActionWebs
From http://chess.eecs.berkeley.edu/actionwebs/overview/
Summary
The objective of this research is to develop a theory of "ActionWebs", that is, networked embedded
sensor-rich systems, which are taskable for coordination of multiple decision-makers.
Description
The objective of this research is to develop a theory of "ActionWebs", that is, networked embedded
sensor-rich systems, which are taskable for coordination of multiple decision-makers.The approach is
to:
1. Identify models of ActionWebs using stochastic hybrid systems, an interlinking of continuous
dynamical physical models with discrete state representations of interconnection and
computation.
2. Algorithms will be designed for tasking individual sensors, based on information objectives for the
entire system.
3. Algorithms for ActionWebs will be developed using multi-objective control methods for meeting
safety and efficiency objectives.
Two grand challenge applications for this research are in
• Intelligent Buildings for optimal heating, ventilation, air conditioning, and lighting based on occupant
behavior and external environment;
• Air Traffic Control for mobile vehicle platforms with sensor suites for environmental sensing to
enable safe, convenient, and energy efficient routing.
Tuesday, June 6, 17

Robotics Control
Tuesday, June 6, 17

From http://homepages.inf.ed.ac.uk/mherrman/IVRINVERTED/pdfs/architectures.pdf
Three Major Control Paradigms
Tuesday, June 6, 17

Sense, Plan,Act (SPA) Control
Tuesday, June 6, 17

Subsumption Reactive Architecture
Tuesday, June 6, 17

Three Layer Hybrid Architecture
Tuesday, June 6, 17

From http://www6.in.tum.de/Main/ResearchMultifunk
RoboticsandEmbeddedSystemsfromTechnicalUniversityofMunich
Tuesday, June 6, 17

From http://www.slideshare.net/narrendar/ros-an-opensource-robotic-framework
Robotic Frameworks
ROS (Robot Operating Systems)
Tuesday, June 6, 17

From http://www.ausmt.org/index.php/ausmt/article/view/167/173
Embedded Software Architecture for Intelligent Robot (ESAIR)
Tuesday, June 6, 17

From http://cs.stanford.edu/people/tkr/research/distributed-real-time-middleware
Middleware for Robotics and Process Control Applications (MiRPA)
Tuesday, June 6, 17

From http://www.slideshare.net/FloJo24/nao-in-the-cloud-talk
Middleware for Robotics and Process Control Applications (MiRPA)
Tuesday, June 6, 17

From http://robolab.inf.um.es/tc2/
Multi-Robot Control Architecture from Spain and Sweden
Linda is a coordination language fromYale. See https://en.wikipedia.org/wiki/Linda_(coordination_language)
Tuesday, June 6, 17

From http://blog.zhaw.ch/icclab/category/research-approach/themes/cloud-robotics/
Cloud Robotics Framework from Zurich ICCLab
Tuesday, June 6, 17

From http://roboearth.org/software-components/
RoboEarth Cloud Robotics Architecture
Tuesday, June 6, 17

From http://web.itu.edu.tr/sariel/publications/KarapinarAAAI2012.pdf
Planning Framework for Cognitive Robotics from Turkey
Tuesday, June 6, 17

Cyber Physical Social Systems
Tuesday, June 6, 17

From http://www2.nict.go.jp/univ-com/isp/doc/NIST.IR.7951.pdf
SmartNetworked Systems and Societies(SNSS) from NIST and NICT
SNSS combines:
● Networked Computer Systems
● Real-time Control System
● Sensor/Actuator Networks
● Social Networks
● Cloud Computing Services
● Humans
Tuesday, June 6, 17

From http://scm.ulster.ac.uk/~scmresearch/SERG/ucamiiwaal2014/workshop-iot.html
High LevelVision of Cyber-Physical-Socio Systems
Tuesday, June 6, 17

Internet of Everything from Cisco
From http://www.slideshare.net/CiscoBusinessInsights/fast-it-accelerating-innovation-in-the-internet-of-everything-era
Tuesday, June 6, 17

From http://nlpr-web.ia.ac.cn/mmc/workshop/slides/Koji_Zettsu.pdf
NICT K-L Grid: Cyber-Physical Social Sensing Platform
Tuesday, June 6, 17

From http://www.knowledgegrid.net/~h.zhuge/CPS.htm
Cyber-Physical-Socio Systems
Tuesday, June 6, 17

Smart Networked Systems and Societies (SNSS)
Tuesday, June 6, 17

Human Cyber-Physical Systems
Tuesday, June 6, 17

Key Challenges for Human Cyber-Physical Systems
Tuesday, June 6, 17

From https://www.yumpu.com/en/document/view/31538504/cpss-cyber-physical-social-system
Cyber Physical Social Systems(CPSS) from Kyushu U.
Tuesday, June 6, 17

Internet of Everything from TCS
Tuesday, June 6, 17

From http://www.cisco.com/c/dam/en_us/about/ac79/docs/IoE/IoE-AAG.pdf
Internet of Everything from Cisco
Tuesday, June 6, 17

From http://arxiv.org/pdf/1403.2498.pdf
Cognitive Cyber-Physical-Social Framework
Tuesday, June 6, 17

From https://www.waze.com/about
Waze is all about contributing to the 'common good' out there on the road.
By connecting drivers to one another, we help people create local driving communities that
work together to improve the quality of everyone's daily driving. That might mean helping
them avoid the frustration of sitting in traffic, cluing them in to a police trap or shaving five
minutes off of their regular commute by showing them new routes they never even knew
about.
So, how does it work?
After typing in their destination address, users just drive with the app open on their phone to
passively contribute traffic and other road data, but they can also take a more active role by
sharing road reports on accidents, police traps, or any other hazards along the way, helping to
give other users in the area a 'heads-up' about what's to come.
In addition to the local communities of drivers using the app, Waze is also home to an active
community of online map editors who ensure that the data in their areas is as up-to-date as
possible.
Waze: Example of a Cyber-Physical-Social System
Tuesday, June 6, 17

Smart Trafﬁc Control using Mobile and Social Feedback
Tuesday, June 6, 17

CPS Loop for Smart Trafﬁc Control using Mobile and Social Feedback
Tuesday, June 6, 17

References
Inventory of all Bob Marcus CPS Slides on Slideshare
http://www.slideshare.net/bobmarcus/inventory-of-my-cps-slide-sets
Tuesday, June 6, 17

References (Embedded and IoT)
OPC (Open Platform Communications) Foundation Unified Architecture
http://www.slideshare.net/InduSoft/opc-ua-connectivity-with-indusoft-and-the-opc-foundation
Contiki Open Source Operating System for the Internet of Things
http://www.contiki-os.org/
Survey of Operating Systems for Wireless Sensor Networks
http://www.mdpi.com/1424-8220/11/6/5900/htm
Embedded Control Systems Design - Wikibook
https://en.wikibooks.org/wiki/Embedded_Control_Systems_Design
Application of Embedded Systems
http://itsallaboutembedded.blogspot.com/2013/03/applications-of-embedded-systems.html
Interconnecting Smart Objects with IP: The Next Internet - Book
http://tinyurl.com/q94vgxf
IPSO Alliance (IPSO = Internet Protocol for Smart Obects)
http://www.ipso-alliance.org/ipso-community/resources/smart-objects-interoperability/
OneM2M
http://www.onem2m.org/
101 Resources to Navigate the Internet of Things
http://postscapes.com/internet-of-things-resources/
Unified Middleware for Internet of Things
http://www.slideshare.net/honbozhou/unified-middleware-for-internet-of-things
Smart Semantic Middleware for the Internet of Things
http://www.mit.jyu.fi/ai/papers/ICINCO-2008.pdf
Tuesday, June 6, 17

References (Embedded and IoT) continued
6LoWPAN, RPL, and CoAP
https://www.utwente.nl/ewi/dacs/colloquium/archive/2010/slides/2010-utwente-6lowpan-rpl-coap.pdf
Network QoS Management in IoT
http://arxiv.org/ftp/arxiv/papers/0805/0805.2854.pdf
Embedded Systems on Wikipedia
https://en.wikipedia.org/wiki/Embedded_system
DARPA Network of Embedded Systems (NEST) Project
https://www.cs.virginia.edu/wsn/nest.html
Mosquitto Open Source MQTT Implementation
http://mosquitto.org/
Arduino Open Source Electronics Software and Hardware Platform for Controlling Networked Devices
https://www.arduino.cc
Messaging Protocols for Internet of Things
http://electronicdesign.com/iot/understanding-protocols-behind-internet-things
XMPP for IoT
http://xmpp.org/extensions/xep-0323.html
http://www.xmpp-iot.org/
8 IoT Operating Systems
http://tinyurl.com/zcj4nje
Tuesday, June 6, 17

References (CPS)
Secure Control Survivable Cyber-Physical Systems
http://feihu.eng.ua.edu/NSF_CPS/year1/w8_1.pdf
Control of Cyber-Physical Systems
http://link.springer.com/book/10.1007%2F978-3-319-01159-2
Cyber-Physical Systems Information Hub in Hyderabad
http://cps.iith.ac.in/cpsiit/
Contradictory Requirements Driving CPS Innovation from Siemens
http://www.slideshare.net/heisss/cyberphysical-systems-49324556
Overview of Cyber-Physical Systems
http://cesg.tamu.edu/wp-content/uploads/2012/03/ps_ﬁles/12-02-10-CPS-Centennial.pdf
Tuesday, June 6, 17

References (CPS)
Cyber-Physical Society
http://www.knowledgegrid.net/~h.zhuge/CPS.htm
Internet of Everything (IoE) Presentations from Cisco
http://www.cisco.com/web/about/ac79/innov/IoE.html
Foundations for Innovation in Cyber-Physical Systems (NIST Workshop Report)
http://www.nist.gov/el/upload/CPS-WorkshopReport-1-30-13-Final.pdf
Socio-Cyber-Physical Systems in Production Networks
http://ac.els-cdn.com/S2212827113002163/1-s2.0-S2212827113002163-main.pdf?_tid=4ff74410-accb-11e5-a616-00000aacb35e&acdnat=1451242672_36c07b2168777a1010cb2e6d4d108c2d
Cyber-Physical Systems: Design Challenges
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.156.9348&rep=rep1&type=pdf
Free 2013 NIST Report on Strategic Opportunities for 21th Century Cyber-Physical Systems
http://tinyurl.com/javobbr
Downloadable Book on Building the Hyper-Connected Society from IERC
http://www.internet-of-things-research.eu/pdf/Building_the_Hyperconnected_Society_IERC_2015_Cluster_eBook_978-87-93237-98-8_P_Web.pdf
Tuesday, June 6, 17

References (Berkeley)
Downloadable Book on “Introduction to Embedded Systems from Berkley” (589 pages)
http://leeseshia.org/releases/LeeSeshia_DigitalV2_0.pdf
Book from Berkeley on the “Structure and Interpretation of Signals and Systems” (743 pages)
http://leevaraiya.org/releases/LeeVaraiya_DigitalV2_04.pdf
Cyber-Physical Systems Video from Edward Lee of Berkeley
https://www.youtube.com/watch?v=pdhyniSDhZk&feature=youtu.be
Cyber-Physical Systems.org and Industrial Cyber-Physical Systems,
http://cyberphysicalsystems.org/
http://www.icyphy.org
Center for Hybrid and Embedded Software Systems and Cyber-Physical Cloud Computing (CPCC)
http://chess.eecs.berkeley.edu/
http://cpcc.berkeley.edu/
TerraSwarm Research Center
http://www.terraswarm.org/index.html
Ptolemy and Ptolemy II Project
http://ptolemy.eecs.berkeley.edu/
http://ptolemy.org/ptolemyII
ActionWeb
http://chess.eecs.berkeley.edu/actionwebs/
PTIDES and PRET
http://chess.eecs.berkeley.edu/ptides/
http://chess.eecs.berkeley.edu/pret/
OpenWSN from Berkeley
https://openwsn.atlassian.net/wiki/
Internet of Everything - Steps towards Sustainability
http://www.cs.berkeley.edu/~culler/talks/Culler-CWSN.pptx
Computing Foundation and Practice for Cyber-Physical Systems from Berkeley
http://people.cis.ksu.edu/~danielwang/Investigation/CPS_Concept/EECS-2007-72.pdf
Tuesday, June 6, 17

Control in Cyber-Physical Systems

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