Cyber Physical Systems. Design, Modeling, and Evaluation: 5th International Workshop, CyPhy 2015, Amsterdam, The Netherlands, October 8, 2015, Proceedings

155 Pages·2015·4.89 MB·English

by  Mohammad Reza Mousavi

Christian Berger
Mohammad Reza Mousavi (Eds.)
1
6 Cyber Physical Systems
3
9

S
C
N Design, Modeling, and Evaluation
L
5th International Workshop, CyPhy 2015
Amsterdam, The Netherlands, October 8, 2015
Proceedings
123
Lecture Notes in Computer Science 9361
Commenced Publication in 1973
Founding and Former Series Editors:
Gerhard Goos, Juris Hartmanis, and Jan van Leeuwen
Editorial Board
David Hutchison
Lancaster University, Lancaster, UK
Takeo Kanade
Carnegie Mellon University, Pittsburgh, PA, USA
Josef Kittler
University of Surrey, Guildford, UK
Jon M. Kleinberg
Cornell University, Ithaca, NY, USA
Friedemann Mattern
ETH Zurich, Zürich, Switzerland
John C. Mitchell
Stanford University, Stanford, CA, USA
Moni Naor
Weizmann Institute of Science, Rehovot, Israel
C. Pandu Rangan
Indian Institute of Technology, Madras, India
Bernhard Steffen
TU Dortmund University, Dortmund, Germany
Demetri Terzopoulos
University of California, Los Angeles, CA, USA
Doug Tygar
University of California, Berkeley, CA, USA
Gerhard Weikum
Max Planck Institute for Informatics, Saarbrücken, Germany
More information about this series at http://www.springer.com/series/7409
Christian Berger Mohammad Reza Mousavi (Eds.)
(cid:129)
Cyber Physical Systems
Design, Modeling, and Evaluation
5th International Workshop, CyPhy 2015
Amsterdam, The Netherlands, October 8, 2015
Proceedings
123
Editors
Christian Berger Mohammad Reza Mousavi
University of Gothenburg Centrefor Research onEmbedded Systems
Gothenburg Halmstad University (CERES)
Sweden Halmstad
Sweden
ISSN 0302-9743 ISSN 1611-3349 (electronic)
Lecture Notesin Computer Science
ISBN 978-3-319-25140-0 ISBN978-3-319-25141-7 (eBook)
DOI 10.1007/978-3-319-25141-7
LibraryofCongressControlNumber:2015950886
LNCSSublibrary:SL3–InformationSystemsandApplications,incl.Internet/Web,andHCI
SpringerChamHeidelbergNewYorkDordrechtLondon
©SpringerInternationalPublishingSwitzerland2015
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthe
material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,
broadcasting, reproduction on microfilms or in any other physical way, and transmission or information
storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynow
knownorhereafterdeveloped.
Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication
doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant
protectivelawsandregulationsandthereforefreeforgeneraluse.
Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbookare
believedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsortheeditors
give a warranty, express or implied, with respect to the material contained herein or for any errors or
omissionsthatmayhavebeenmade.
Printedonacid-freepaper
SpringerInternationalPublishingAGSwitzerlandispartofSpringerScience+BusinessMedia
(www.springer.com)
Preface
It is with great pleasure that we present the proceedings of the 5th Workshop on
Design, Modeling and Evaluation of Cyber Physical Systems (CyPhy 2015). The
workshop was organized as part of ESWeek 2015 in Amsterdam, The Netherlands.
Cyber physical systems combine computing and networking power with physical
components. They enable innovation in a wide range of domains including robotics;
smart homes, vehicles, and buildings; medical implants; and future-generation sensor
networks. CyPhy 2015 brought together researchers and practitioners working on
modeling, simulation, and evaluation of CPS, based on a broad interpretation of these
areas, to collect and exchange expertise from a diverse set of disciplines.
This year the workshop solicited publications in three categories: research papers,
position papers, and tool demonstrations. There were submissions in all categories
except for tool demonstrations. The full call for papers can be found on the workshop
website (www.cyphy.org).
The review process was conducted as follows. First, the international Program
Committee (PC) members expressed interest in reviewing specific papers and also
declared conflicts of interest. (There were two papers, involving two PC members.
Throughouttheprocess,theEasyChairconferencesystemlimitedthosereviewerswho
declared a conflict with a given paper from access to that paper, its reviews, and from
discussions on it.) After collecting preferences and conflicts, papers were assigned to
reviewers. Papers received on average three reviews. After the majority of reviews
were submitted, there was a week of online PC meeting. Extensive discussions in the
PCmeetingwereconductedforninepapersandasummarythereofwasprovidedtothe
authors. Out of all 13 submissions, 10 were selected for publication.
We would like to take this opportunity to acknowledge the excellent efforts of the
PC, the external reviewers, and the authors. We thank the Steering Committee of the
CyPhyworkshopseriesandinparticularitschairpersonProfessorWalidTaha,fortheir
confidence and theiradvice. We also wish tothank ProfessorTulikaMitra (ESWEEK
Workshop Chair), Professor Nikil Dutt (member of ESWEEK Steering Committee),
and Professor Rolf Ernst (ESWEEK General Chair) for their effort in facilitating this
year’s workshop.
August 2015 Christian Berger
Mohammad Reza Mousavi
Organization
Program Committee
Jakob Axelsson Mälardalen University, Sweden
Christian Berger University of Gothenburg, Sweden
Manuela Bujorianu University of Leicester, UK
Georgios Fainekos Arizona State University, USA
Daisuke Ishii Tokyo Institute of Technology, Japan
Zhiyun Lin Zhejiang University, China
Wojciech Mostowski University of Twente, The Netherlands
Mohammad Reza Mousavi Halmstad University, Sweden
Michel Reniers EindhovenUniversityofTechnology,TheNetherlands
Bernhard Rumpe RWTH Aachen University, Germany
Maytham Safar Kuwait University, Kuwait
Bernhard Schaetz TU München, Germany
Christoph Seidl Technische Universität Dresden, Germany
Martin Steffen University of Oslo, Norway
Frits Vaandrager Radboud University Nijmegen, The Netherlands
Additional Reviewers
Bertram, Vincent Swartjes, Lennart
Gupta, Pragya Kirti Tuncali, Cumhur Erkan
Hermerschmidt, Lars van der Sanden, Bram
Contents
Resource-Aware Control and Dynamic Scheduling in CPS. . . . . . . . . . . . . . 1
W.P.M.H. Heemels
Current Challenges in the Verification of Hybrid Systems . . . . . . . . . . . . . . 8
Stefan Schupp, Erika Ábrahám, Xin Chen, Ibtissem Ben Makhlouf,
Goran Frehse, Sriram Sankaranarayanan, and Stefan Kowalewski
Constructive Modelling of Parallelized Environmental Models for
Structured Testing of Automated Driving Systems. . . . . . . . . . . . . . . . . . . . 25
Sebastian Siegl and Martin Russer
Core Research and Innovation Areas in Cyber-Physical Systems of
Systems: Initial Findings of the CPSoS Project. . . . . . . . . . . . . . . . . . . . . . 40
S. Engell, R. Paulen, M.A. Reniers, C. Sonntag, and H. Thompson
A Parametric Dataflow Model for the Speed and Distance Monitoring in
Novel Train Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Benjamin Beichler, Thorsten Schulz, Christian Haubelt,
and Frank Golatowski
A Modelling Framework for Cyber-Physical System Resilience . . . . . . . . . . 67
Manuela L. Bujorianu and Nir Piterman
Recharging Probably Keeps Batteries Alive . . . . . . . . . . . . . . . . . . . . . . . . 83
Holger Hermanns, Jan Krčál, and Gilles Nies
Fault Localization of Energy Consumption Behavior Using Maximum
Satisfiability. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Shin Nakajima and Si-Mohamed Lamraoui
Hybrid Secure Data Aggregation in Wireless Sensor Networks. . . . . . . . . . . 116
Keyur Parmar and Devesh C. Jinwala
Formally Analyzing Continuous Aspects of Cyber-Physical Systems
Modeled by Homogeneous Linear Differential Equations. . . . . . . . . . . . . . . 132
Muhammad Usman Sanwal and Osman Hasan
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Resource-Aware Control and Dynamic
Scheduling in CPS
B
W.P.M.H. Heemels( )
Control System Technology Group,
Department of Mechanical Engineering,
Eindhoven University of Technology, Eindhoven, The Netherlands
[email protected]
http://www.heemels.tue.nl
Abstract. Recentdevelopmentsincomputerandcommunicationtech-
nologies are leading to an increasingly networked and wireless world.
Thisraisesnewchallengingquestionsinthecontextofcontrolforcyber-
physical systems (CPS), especially when the computation, communi-
cation, energy and actuation resources (for control) of the system are
limited and/or shared by multiple control tasks. These limitations
obstruct the use of classical design techniques for feedback control algo-
rithms and call for new resource-aware control paradigms. These new
resource-awarecontrolsystemstypicallyhavetotakebothdiscretedeci-
sions(whichtaskisallowedtousetheresource)andcontinuousdecisions
(whichcontinuouscontrolinputisgeneratedforthetask).Inthistalktwo
approachesarepresentedtoaddressthishybridco-designproblem.Both
approaches result in control algorithms that exploit real-time measure-
ment information available on the state of the CPS and decide dynami-
cally on the actions to take. This leads to the situation that individual
control tasks are no longer executed in classical periodic time-triggered
patterns, but in aperiodic patterns with varying inter-execution times.
By abandoning the periodic scheduling of control tasks, the aim is to
realisebettertrade-offsbetweentheoverallperformanceoftheCPSand
the required resource utilisation. The approaches are illustrated by var-
ious applications. interesting challenges for the future are discussed as
well.
1 Introduction
Recentdevelopmentsincomputerandcommunicationtechnologiesareleadingto
anincreasinglynetworkedandwirelessworld.Inthecontextofcontrolforcyber-
physicalsystems(CPS)thisraisesnewchallengingquestions,especiallywhenthe
computation,communication,energyandactuationresources(forcontrol)ofthe
The work of Maurice Heemels was partially supported by the Dutch Science Foun-
dation (STW) and the Dutch Organization for Scientific Research (NWO) under
the VICI grant “Wireless controls systems: A new frontier in automation” (Project
number 11382).
(cid:2)c SpringerInternationalPublishingSwitzerland2015
C.BergerandM.R.Mousavi(Eds.):CyPhy2015,LNCS9361,pp.1–7,2015.
DOI:10.1007/978-3-319-25141-71
2 W.P.M.H. Heemels
system are limited and/or shared by multiple control tasks. Examples include
limitations in the battery power for wireless sensors, restrictions on actuator
moves to avoid strain, multiple actuators sharing the same hardware resource
(e.g.,severalmotorssharingoneamplifier),manycontroltaskssharingthesame
processor and/or communication medium, and so on. Such limitations obstruct
the use of classical techniques for the design of feedback control algorithms for
CPS and call for new resource-aware controller synthesis paradigms.
These new resource-aware control systems typically have to take both dis-
crete and continuous decisions. For instance, in the control of a robot arm in
which the motors driving the joints share the same amplifier (and consequently
only one joint can be powered at a time), the control system would have to
determine based on, e.g., position and velocity information of the robot, which
joint (discrete decision) to power and which value of the torque (continuous
value) to apply in order that the robot carries out its overall motion task in a
desirable manner. Clearly, this a hybrid co-design problem in which both dis-
crete and continuous decisions have to be taken by the resource-aware control
algorithm preferably exploiting real-time measurement information available on
the physical system.
In this talk two perspectives on this general hybrid co-design problem are
discussed.
2 Dynamic Scheduling and Control
The first approach is based on control and scheduling co-design and has simi-
laritiestowell-known time-sharingsolutions.Essentiallythetimelineisdivided
intospecificslotsandineachslotoneofthe(feedback)controltasksisallowedto
accessthesharedresourcebeing,forinstance,acomputation,communicationor
actuation device. As an example consider the networked control system (NCS)
in Fig.1 in which we have a physical plant controlled by a feedback controller
over a shared communication network. The physical plant is equipped with ny
sensor nodes measuring y1,y2,...,yny, respectively, and there are nu actua-
tor nodes for which the controller produces the control values u1,u2,...,unu,
respectively. As the network is shared among these nodes and communication
constraintsprohibitthatmultiplenodestransmitatthesametime,ateachtrans-
mission instant only one of these nodes can transmit its corresponding values
(e.g., if sensor node 2 is allowed to communicate at time t then y2(t) is com-
municated and yˆ2(t) is updated to this value). Clearly, this calls for a network
protocol deciding in which order nodes can communicate (discrete decisions)
and a feedback controller that based on the received measurement information
yˆ1,yˆ2,...,yˆny determines the control values u1,u2,...,unu. This is essentially
a co-design problem as the choice of network protocol will influence which con-
troller yields optimal performance and behaviour of the overall CPS.
Comparedtocommonschedulingapproachesofcontrolloops,whichtypically
use fixed periodic (round robin) schedules, in our solution we strive for dynamic
scheduling of control tasks based on measured information obtained from the