cyber-physical systems: characteristics, trends .../6.22_summerschoolcps... · opportunities and...

Cyber-Physical Systems: Characteristics, Trends, Opportunities and Challenges

Martin Törngren Professor in Embedded Control Systems, ICES director

Division of Mechatronics, KTH – Royal Institute of Technology

Based on collaboration with many colleagues including (but not limited to) Lihui Wang (KTH), Ahsan Qamar (GeorgiaTech), Victoria Cengarle (Fortiss), John McDermid (Univ. Of York),

Roberto Passerone (Trento), Alberto Sangiovanni Vincentelli (Trento/UCB), Saddek Bensalem (Univ. Joseph Fourier), Martin Grimheden (KTH)

CPS application examples

2

• Badminton robot, courtesy of FMTC • Embedded control; 4 DOF, actuators, sensors; Vision and

processing; High level strategies • KUKA and Timo Boll:

https://www.youtube.com/watch?v=tIIJME8-au8

• Cloud manufacturing (overleaf)

CPS overview , Martin Törngren, KTH; – CPS summerschool, June 22nd, 2015, Stockholm

2

Remote Robotic Assembly


3

Courtesy Lihui Wang, KTH

Cyber-physical systems (~2006)

Integration of computation, networking and physical processes where CPS range from minuscule (pace makers) to large-scale (e.g. national power-grid).

4 CPS overview , Martin Törngren, KTH; – CPS summerschool, June 22nd, 2015, Stockholm

Not new but • Integrating physical/embedded systems with IT/internet

• Increasing scale towards SoS • New and cross domain products/services!

• From closed systems to ubiquitous mass-products

Key messages

• CPS as the integration of physical, embedded and IT systems – Bridging technologies, disciplines and domains – Sense, compute and control ”anything”

• CPS, IoT, Industrial Internet, Industrie 4.0 etc. – Different perspectives to similar phenomena –

integration and software intensive systems

• Sociotechnical systems – Unprecedented opportunities for innovation – Corresponding challenges, barriers and threats


5

Outline

• Prelude • Opportunities in the wake of technology

and application evolution • CPS definitions and characterization • Challenges, barriers and risks • Conclusions - Take aways


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CPS Relevance and Opportunities: McKinsey’s Disruptive Technologies

CPS overview , Martin Törngren, KTH; CPS summerschool, June 22nd, 2015 7

Gartner hype cycle

8 8

Manufacturing evolution

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2015-06 22

Production

Mfg. Systems

1913

1955

1850

Prod

uct V

olum

e

More Competitive

Less Competitive

Market

Volatile demand

Steady demand

Supply > Demand

Supply < Demand System Architecture Modular

reconfigurable Unified architecture

Push

Pull

Product Variety

Homogenous Low Cost

Products

Heterogeneous Products Society Needs

…

1980

2000

(Jovane, Koren and Boër, CIRP Annals,

52/2, 483-695, 2003)

Mass

Dedicated Lines

FMS

RMS

General-Purpose machines

Current Focus:

Cyber-physical systems

Cloud manufacturing

Human-robot collaboration

Programming-free machine control

Additive manufacturing

Sustainable manufacturing

Cloud manufacturing through integrated CPS

2015-06 22

10

Intelligent Sensors / Open Architecture Controllers

Application Server Distributed Process Planning

Dynamic Scheduling Real-Time Monitoring

Remote Control

Web-based Integrated Sensor-driven e-ShopFloor

Wise-ShopFloor

Operators Engineers Managers

Real World

Control Monitoring Cyber World

Planning

Monitoring

Control

Sensing

The Emerging IT Scene: CPS will be ubiquitous with immense opportunities!

Infrastructural core

Sensory swarm

Mobile access

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The Cloud!

Courtesy: J. Rabaey Copyright Alberto Sangiovanni Vincentelli 11 11

A paradigm shift

Google's robotic cars have about $150,000 in equipment including a $70,000 LIDAR (laser radar) system. The range finder mounted on the top is a Velodyne 64-beam laser. This laser allows the vehicle to generate a detailed 3D map of its environment. The car then takes these generated maps and combines them with high-resolution maps of the world, producing different types of data models that allow it to drive itself.

Copyright Alberto Sangiovanni Vincentelli 12

http://en.wikipedia.org/wiki/LIDAR

http://en.wikipedia.org/wiki/Velodyne

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Intelligent systems that gather, synthesize and apply information will change the way entire industries operate …

Smart water Apply monitoring and management technologies to help optimize the availability, delivery, use, and quality of water as well as related systems including energy and chemical treatment.

Smart traffic Use real-time traffic prediction and dynamic tolling to reduce congestion and its byproducts while positively influencing related systems.

Smart energy Analyze customer usage and provide customized products and services that help to boost efficiency from the source through the grid to the end user.

Water

Energy

Chemicals

Carbon emissions

Congestion

Public transportation Smart home

Carbon emissions

Energy sources

Energy grid

Energy

Noise pollution

Copyright Alberto Sangiovanni Vincentelli

Outline

• Prelude • Opportunities in the wake of technology and

application evolution • CPS definitions and characterization • Challenges, barriers and risks • Conclusions - Take aways


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CPS definition – Acatech, 2010

A Cyber-Physical System (CPS) is a system with embedded software (as part of devices, buildings, means of transport, transport routes, production systems, medical processes, logistic processes, coordination processes and management processes), which: • directly records physical data using sensors and affect physical

processes using actuators; • evaluates and saves recorded data, and actively or reactively

interacts both with the physical and digital world; • is connected with other CPS and in global networks via digital

communication facilities (wireless and/or wired, local and/or global); • uses globally available data and services; • has a series of dedicated, multi-modal human-machine interfaces.

Integrated CPS agenda, German National Academy of Science and Engineering


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CPS relation to other concepts

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Big Data

CPS

CPS in the small

Embedded systems

IoT CPSoS SoS

CPS in the large

Different perspectives!! Set sizes are not representative Building systems out of the underlying technologies! Trend of increasing overlap!

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Mechatronics


CPS characterization

• Physical vs. Embedded vs. Communication vs. IT Dominated

• Single Domain vs. Cross Domain • Governance and Jurisdiction • Closed vs. Open; Level of integration • Degree of Autonomy and Adaptability • Centralized vs. Distributed control • Human In-/Outside the Loop


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Characterization – example: IT


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Physical-Embedded-IT; Single vs. Cross Domain; Closed vs. Open; Degree of Autonomy; Governance and Jurisdiction

Outline




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Product development – creating new values and mitigating risks

Sub-system

Reasoning: - Inside out - Outside in - ”out of the box”!

Service! Value!

Business model? Context!

Hazards

Accident External Event

Severity? Probability?

Stakeholder and fault models

Sub-system

Cause Cause

Threats


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Push Pull

Technological Organizational/Business Societal

Energy Transportation Healthcare Competitive production Comfort Entertainment

Software Networking Wireless com. Sensors and actuators Packaging/integration Computing technology Software platforms Control methods Tools …

Desired properties? Performance! Risks & costs! Sustainability!

Societal impact Legislation; standards Education

Science and Technology

Economy Management Continued education


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X X X Driver

X Eng

X X Clutch

X X Trans

X X Diff

X X X X Wheel

X X Steer

X X Brake

X X Susp

Driver Eng Clutch Trans Diff Wheel Steer Brake Susp

”Purely” mechanical vehicle

X – Mechanical relations

X


22

P X+P P P X+P X+P P Driver

P X+P P P P P P P Eng

P X+P X+P P P P Clutch

P P X+P X+P P P P P Trans

P P X+P X+P P P P Diff

X X+P X X Wheel

X+P P P P P X+P P P Steer

X+P P P P P X+P P P Brake

X+P P P P P X+P P P Susp

Driver Eng Clutch Trans Diff Wheel Steer Brake Susp

Fully programmable vehicle!

P – Programmable relations X – Possible change


23

Challenges - overview

• Scientific Challenges: Multi-Paradigm – Multidisciplinarity; Socio-Technical Character – Foundational Theories; Multi-domain modeling

• Technological Challenges: Complexity – Interoperability; Autonomy – Privacy; Dependability; Uncertainty

• Economic Challenges: Disruption – Service vs. Product; Disruptive dominance


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Challenges – overview

• Education Challenges: Competence – Knowledge Excellence; – Balanced Education; Future Workforce

• Legal Challenges: Innovation Barriers – Relatory environment – Certification; Harmonization

• Societal Challenges: Change-Aversion – Public awareness; Public Support

CPS overview , Martin Törngren, KTH; – CPS summerschool,

June 22nd, 2015, Stockholm 25

10100011010011100101001110100011010011100101001110100011010011100

1010011 10100011010011100010011

Viewpoints and relationships

Production/ parameterization

Project Management

Sensing, estimation and control

Integration tests

CAD, PDM

ECU/electronics

Quality

Architecture Networking

CAN database

Diagnostics, Support tools

Safety

Maintenance, After-market

Vehicle dynamics

Software

• Power • Propulsion • Thermal

Mechanical components


26

http://upload.wikimedia.org/wikipedia/en/d/d6/FlowchartExample.png

http://upload.wikimedia.org/wikipedia/commons/6/6f/Uml_hierarchie_des_diagrammes.png

http://upload.wikimedia.org/wikipedia/en/8/86/Vs2005.screenshot.png

Multi-level approach for dealing with viewpoint interrelations

Technology Level

Tech

nolo

gy

Leve

l


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Outline




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CPS – the good, the bad, the ugly

• Opportunities – Improving life – and saving the planet!

• Complexity undersirable behavior and increased risk levels

• Non-sustainable society; Privacy, ”big brother” controlling our lives, …


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Key messages – CPS!

• Integration of physical, embedded and IT systems – Bridging technologies, disciplines, domains and business – Sense, compute and control ”anything” – Physical – Embedded – IT => Allocation of functionality!

• CPS, IoT, Industrial Internet, Industrie 4.0 etc. – Different perspectives to similar phenomena!

• Sociotechnical systems – Unprecedented opportunities for innovation – Corresponding challenges, barriers, risks and threats – Many unsolved scientific and engineering challenges – Multiple stakeholders/experts; architecture and platforms;


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References

• CyPhERS - http://www.cyphers.eu/ • German agenda CPS:

http://www.cyphers.eu/sites/default/files/acatech_STUDIE_agendaCPS_eng_ANSICHT.pdf

• CPS in manufacturing systems: Lihui Wang, Martin Törngren, Mauro Onori. Current status and advancement of cyber-physical systems in manufacturing. Journal of Manufacturing Systems. Available online 1 May 2015 – to appear in the October 2015 issue (http://www.sciencedirect.com/science/journal/aip/02786125). CPS overview , Martin Törngren, KTH; – CPS summerschool,

June 22nd, 2015, Stockholm 31

http://www.cyphers.eu/



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