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Institute for Software Integrated SystemsVanderbilt University
Crosscutting CPS Needs in Industry
Janos SztipanovitsISIS, Vanderbilt University
“Transportation CPS Workshop”November 19, 2008
Vienna, Virginia 22182
Outline
A crosscutting CPS need in industry: System IntegrationNature and scope of challengesElements of a Science of System Integration
Trends in Vehicles…Sectors Goals
Aerospace
• Aircraft that fly faster and further on less energy.
• Air traffic control systems that make more efficient use of airspace.
Automotive
• Automobiles that are more capable and safer but use less energy.
• Highways that are safe, higher throughput and energy efficient.
Defense
• More capable defense systems • Better use of networked fleets of
autonomous vehicles• Integrated, maneuverable,
coordinated, energy efficient• Resilient to cyber attacks
Boston Dynamics: BigDog
…or in a Broader Sense
Boston Dynamics: BigDog
Energy Internet: When IT Meets ET
Key Enablers
Networking and Information Technology (NIT) have been increasingly used as universal system integrator in human – scale and societal – scale systemsFunctionality and salient system characteristics emerge through the interaction of networked physical and computational objects
Engineered systems turn into Cyber-Physical Systems (CPS)
Why Integration?
Rich time models
Precise interactions across highly extended spatial/temporal dimensionFlexible, dynamic communication mechanismsPrecise time-variant, nonlinear behaviorIntrospection, learning, reasoning
Elaborate coordination of physical processesHugely increased system size with controllable, stable behaviorDynamic, adaptive architecturesAdaptive, autonomic systems
Self monitoring, self-healing system architectures and better safety/security guarantees.
Cyber Integrated CPS
NIT delivers unique precision and flexibility in interaction and coordination
7
Is the Integration Role Crosscutting?
The share of value of embedded computing/networking components in different industries:
2003 2009
Automotive 52% 56%Avionics/Aerospace 52% 54%Health/Medical equipment 50% 52%Industrial automation 43% 48%Telecommunications 56% 58%Consumer electronics and Intelligent Homes 60% 62%
Source: “Study of Worldwide Trends and R&D Programmes in Embedded Systems in View of Maximising the Impact of a Technology Platform in the Area” EU Commission, 2005
The shift from federated to integrated architectures is a shared trend.
Outline
A crosscutting CPS need in industry: System IntegrationNature and scope of challengesElements of a Science of System Integration
Dimensions of CPS Integration
Across each design concerns (functional, safety/security, physical platform):
Components
Layers
System of Systems
Component Integration
DigitalController
D/AS/H
PowerAmp.
PlantandSensors
A/D
Functional: E.g.: Dynamics
Comp-1 Comp-2 Comp-3
Component Integration Platform (e.g. TTP)
Software: E.g. Timing
• Composability and compositionality are key concepts
• Defined for carefully selected properties (dynamics, latency, power,..)
• Decomposed into structure, interaction and behavior
• Challenges: – composition frameworks
that guarantee essential properties
– Heterogeneous composition
• Composability and compositionality are key concepts
• Defined for carefully selected properties (dynamics, latency, power,..)
• Decomposed into structure, interaction and behavior
• Challenges: – composition frameworks
that guarantee essential properties
– Heterogeneous composition
Component Integration Platform (e.g. SL/SF)
Multi-Layer System Integration
ALU
ACCU MUXE
MUXOUT
RAM
I (8-6)
I (5-3)
I (2-0) D(3-0) I (8-6)CK
CKI (8-7)
Y(3-0)
S(3-0)
R(3-0)
ALU_OUT(3-0)Rb(3-0)
Ra(3-0)
I (8-0): Instruction CodeD(3-0): Input DataCK: ClockY(3-0): Output
Materials & Devices Materials & Devices
HW/Systems LayerHW/Systems Layer
OS/Network Layer OS/Network Layer
SW/Component LayerSW/Component Layer
Command andCommand andControlControl FormationFormation SensorSensor
ProcessingProcessing
System Operation LayerSystem Operation Layer
Human OrganizationHuman Organization• Inter-layer interactions
• Effects propagate across the layers
• Efficiency and optimization drives toward intractability
• Inter-layer relationship: - mapping - refinement - synthesis
• Challenges: – modeling, – constraining– composing
• Inter-layer interactions
• Effects propagate across the layers
• Efficiency and optimization drives toward intractability
• Inter-layer relationship: - mapping - refinement - synthesis
• Challenges: – modeling, – constraining– composing
Cognitive processesSocial interaction Command and control
CoordinationData distribution
Component interactionsComponent behaviorsArchitecture
Resource managementSchedulingSeparation
Timing/performanceFault managementPower management
Heat dissipationCrossoverRadiation effects
Roles Layers Characteristics
System of System Integration
COP
Distributed DatabaseInformation LayerInteroperableexport
WIN-T
UE/HQESO
Standards-BasedOpen SoftwareArchitecture
L COP L COP L COP L COP
Common OperatingPicture
HQESO
EPLRSSINCGARSVHF
Link 4ALink 11Link 16WIN T
Hierarchical Ad-Hoc Network
DataImagesVoiceVideo
Mis
sion
Pla
nnin
g &
Prep
Situ
atio
n U
nder
stan
ding
Battl
e M
gmt &
Exe
cutio
n
Sens
or F
usio
n
Targ
et R
ecog
nitio
n
Inte
grat
ed S
usta
inm
ent
Embe
dded
Tra
inin
g
Common Services
Information Management
Computing and Networking
Warfighter Interface
Vetronics
Common VehicleSubsystems
HQ
BattleCommand
EO/IR EO/IRSAR/MTI
UGS
WNW
Reachback
HHQ
WNW
Joint CommonDatabase
XX
stubnet
DB Synchronization
Information ManagementInformation Management
PlatformPlatformNetworked CommandNetworked Command
InteroperabilityInteroperabilityFIOP
Foundation Infrastructure –(e.g, Network with: COMSEC Crypto Services, Mobility Enhancements, IP Network Appliqué's, )
Operating System
Operating System Abstraction Services
Network InfrastructureServices
SOS Framework ServicesCOTSNDI
SOS Operations ServicesInformation Assurance (IA) Network Mgt (NM) Information Dissemination Mgt (IDM)
Application Program Interfaces –Common Services
Vehicle Applications Mission Applications Business Applications Administration Applications
Human Machine Interface /Machine-Machine Interface
COTSNDI
Mis
sion
Pla
nnin
g &
Pre
pS
ituat
ion
Und
erst
andi
ngB
attle
Com
man
d
Inte
grat
ed S
usta
inm
ent
Targ
et R
ecog
nitio
n
Sen
sor
Fusi
on
Em
bedd
ed M
issi
on T
rain
ing
Nav
igat
ion
Con
trol
s
Pro
puls
ion
Hyd
raul
icE
lect
rical
Fuel
Sys
Hea
lth M
anag
emen
t
Eng
inee
ring
Pro
cure
men
tFa
cilit
ies
Logi
stic
sP
erso
nnel
Tran
spor
tatio
n
Dis
posa
l
Sys
tem
Man
agem
ent
Rem
ote
Serv
er M
gtS
oftw
are
Dis
trib
utio
n
Use
r Man
agem
ent
Sof
twar
e U
pgra
deS
oftw
are
Inst
all
Rem
ote
Trou
bles
hoot
Foundation Infrastructure –(e.g, Network with: COMSEC Crypto Services, Mobility Enhancements, IP Network Appliqué's, )
Operating System
Operating System Abstraction Services
Network InfrastructureServices
SOS Framework ServicesCOTSNDI
SOS Operations ServicesInformation Assurance (IA) Network Mgt (NM) Information Dissemination Mgt (IDM)
SOS Operations ServicesInformation Assurance (IA) Network Mgt (NM) Information Dissemination Mgt (IDM)
Application Program Interfaces –Common Services
Vehicle Applications Mission Applications Business Applications Administration Applications
Human Machine Interface /Machine-Machine Interface
COTSNDI
Mis
sion
Pla
nnin
g &
Pre
pS
ituat
ion
Und
erst
andi
ngB
attle
Com
man
d
Inte
grat
ed S
usta
inm
ent
Targ
et R
ecog
nitio
n
Sen
sor
Fusi
on
Em
bedd
ed M
issi
on T
rain
ing
Nav
igat
ion
Con
trol
s
Pro
puls
ion
Hyd
raul
icE
lect
rical
Fuel
Sys
Hea
lth M
anag
emen
t
Eng
inee
ring
Pro
cure
men
tFa
cilit
ies
Logi
stic
sP
erso
nnel
Tran
spor
tatio
n
Dis
posa
l
Sys
tem
Man
agem
ent
Rem
ote
Serv
er M
gtS
oftw
are
Dis
trib
utio
n
Use
r Man
agem
ent
Sof
twar
e U
pgra
deS
oftw
are
Inst
all
Rem
ote
Trou
bles
hoot
JTRS
Future Military Systems in the Field• Heterogeneous CPS
• Open Dynamic Architecture - heterogeneous networking
- heterogeneous components
• Very high level concurrency with complex interactions
• Challenges: – understanding and– predicting behavior
• Heterogeneous CPS
• Open Dynamic Architecture - heterogeneous networking
- heterogeneous components
• Very high level concurrency with complex interactions
• Challenges: – understanding and– predicting behavior
Real-Life CPS Development
All integration dimensions are presentSystems are evolving along “spiral-outs”New technical challenges are emerging and potential solutions need to be rapidly exploredAll layers of the system are subject to modifications, there are no well defined synchronization points in the development processIntegration is inherently incremental; deployed systems need to be integrated with components on different level of maturity: prototypical and with simulated systems/components.
How Is It Solved Today?
Systems are integrated when all components are delivered
– Acquisition pushes in this direction
Integration means: “Make it working somehow”System Integration Labs do not offer support for spiral development
– Neither acquisition practices
There is no approach to deal with incomplete specifications and components
System Integration is the highest risk, most expensive, least predictable step in CPS design
Outline
A crosscutting CPS need in industry: System IntegrationNature and scope of challengesElements of a Science of System Integration
Components
Model-based designFoundation for convergence across disciplines
Composition theories for heterogeneous systemsDecoupling Orthogonalization
Agile System IntegrationExtensive use of modeling and model evolutionMulti-model simulation
17
package org.apache.tomcat.session;
import org.apache.tomcat.core.*;import org.apache.tomcat.util.StringManager;
import java.io.*;import java.net.*;import java.util.*;
import javax.servlet.*;import javax.servlet.http.*;
/*** Core implementation of a server session
** @author James Duncan Davidson [[email protected]]
* @author James Todd [[email protected]]*/
public class ServerSession {
private StringManager sm =StringManager.getManager("org.apache.tomcat.session");
private Hashtable values = new Hashtable();private Hashtable appSessions = new Hashtable();
private String id;private long creationTime = System.currentTimeMillis();;
private long thisAccessTime = creationTime;private long lastAccessed = creationTime;
private int inactiveInterval = -1;
ServerSession(String id) {this.id = id;
}
public String getId() {return id;
}
public long getCreationTime() {return creationTime;
}
public long getLastAccessedTime() {return lastAccessed;
}
public ApplicationSession getApplicationSession(Context context,boolean create) {
ApplicationSession appSession =(ApplicationSession)appSessions.get(context);
if (appSession == null && create) {
// XXX// sync to ensure valid?
appSession = new ApplicationSession(id, this, context);appSessions.put(context, appSession);
}
// XXX// make sure that we haven't gone over the end of our// inactive interval -- if so, invalidate and create
// a new appSession
return appSession;}
void removeApplicationSession(Context context) {appSessions.remove(context);
}
/*** Called by context when request comes in so that accesses and
* inactivities can be dealt with accordingly.*/
void accessed() {// set last accessed to thisAccessTime as it will be left over
// from the previous access
lastAccessed = thisAccessTime;thisAccessTime = System.currentTimeMillis();
}
void validate()
Software Control
Convergence: Model-Based Design
Modeling Layer
• Systems Engineering: Model-based design has been the state of practice• Control Engineering: Wide acceptance due to popular tools like MathWorks Simulink/StateFlow
• Software Engineering: Increasing acceptance due to OMG’s MDA push and wider availability of tool suites
Abstractions are linked through mapping.
Abstraction layers allow the verification of different properties .
Key Idea: Manage design complexity by creating abstraction layers in the design flow.(Platform-based design: Alberto Sangiovanni-Vincentelli)
Platform mapping
Abstraction layers define platforms.
Model-Based Design & Platforms
Dynamics models define the composition of functions that describe system behavior.
System-level architecture defines a set of concurrent functional units, where the software architecture can be deployed.
Software architecture model defines the software components and their interaction .
Plant Dynamics & Requirement
Models
Controller Models
Controller design
SoftwareArchitecture
Models
System-LevelModels
Specification/ implementation interface
System-level design
CodeDeployment
Models
Implementation Platform Design
Specification/implementation interface
Orthogonality among the design layers– Controller design depends on
assumptions about implementation– Orthogonalization removes
assumptions E.g. Passivity
Decoupling across design layers– E.g., Time Triggered Architecture– Timing specification drives execution– Static structure
Fundamental change in design flows
– Cross- layer abstractions– New specification/implementation
interface– Redefining testing and verification
Composition in Heterogeneous Systems
How to achieve composability and compositionality?
Agile System Integration…
Agile tools and processes for:Rapid modeling of Components and SystemsRapid synthesis of adapters and wrappers to integrate systems and components at three levels of fidelity
deployed, fully qualifiedexperimental prototypesimulated
Rapid configuration of experimentsdeployment of services, configuration of environment simulators, config of instrumentation
Rapid experimental runscontrol launch, run, post run data collectionvirtualization of experimental platforms to enable large-scale experiments
Analysismapping results back to requirements
Iterate
Data Distribution Network
Adaptive Human
Organization
MixedInitiative
Controller
Context Dep.Command
Interpretation
AdaptiveResourceAllocation
Coordination Decision Support
HCI AbstractCommands
PlatformCommands
AssignedPlatform
Commands
PlatformStatus
COPElements
COPElements
COPElements
Model-Integrated System and Software Laboratory Environment: C2 Windtunnel
…Requires Agile Tools: Multi-Model Simulation Integration
CPN
Organization/Coordination Controller/Vehicle Dynamics
Devs
Processing (Tracking)
Delta3D
3-D Environment (Sensors)
GME GMESimulation Interaction Simulation Architecture
OMNETNetwork Architecture
SL/SF
How can we integrate the models?How can we integrate the simulated heterogeneous system components?How can we integrate the simulation engines?
CPN
Benefits
Challenges Model-Based Design
Composition Theories
Agile System Integration
All integration dimensions are present
The system is evolving along “spiral-outs”
New technical challenges are emerging and potential solutions need to be rapidly explored
All layers of the system are subject to modifications, there are no well defined synchronization points in the development process
Integration is inherently incremental; deployed systems need to be integrated with components on different level of maturity: prototypical and with simulated systems/components
Summary
CPS-s represent the “center of gravity” in NIT applications in the futureSystem Integration for CPS is a crosscutting CPS needAn important challenge: Science of System Integration
