6.22 - SummerschoolCPS IntroTalk - MartinTörngren

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
• 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, 2 2

June 22nd, 2015, Stockholm
Remote Robotic Assembly
Courtesy
Lihui
Wang,
KTH
CPS overview , Martin Törngren, KTH; – CPS summerschool, 3
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).
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

Outline
• Prelude
• Opportunities in the wake of technology
and application evolution
• CPS definitions and characterization
• Challenges, barriers and risks
• Conclusions - Take aways

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
Current Focus:
Unified Modular
 Cyber-physical
Supply <
System Architecture
Demand architecture reconfigurable Mfg.
Less Systems systems
Competitive 1955
Dedicated
Lines
 Cloud
Steady Mass 1980 manufacturing
demand Production FMS
 Human-robot
Product Volume
Market Push RMS collaboration

2000
1913
…  Programming-
Volatile
Pull
free machine
demand
General-Purpose
control
1850
machines
More
 Additive
Competitive Product Variety (Jovane, Koren and manufacturing
Supply Homogenous Heterogeneous Boër, CIRP Annals,
Society Needs
 Sustainable
>Demand Low Cost Products 52/2, 483-695,
Products 2003)
manufacturing
9
2015-
Cloud manufacturing through
integrated CPS
Managers
Operators Engineers Planning
Web-based Integrated
Sensor-driven e-ShopFloor
Monitoring
Wise-ShopFloor
Control
Monitoring Control
Cyber World
Real World
Sensing
Application Server
Distributed Process Planning
Dynamic Scheduling
Real-Time Monitoring
Remote Control
Intelligent Sensors / Open Architecture Controllers
2015- 10
The Emerging IT Scene:
CPS will be ubiquitous with immense opportunities!
Infrastructural
core
The Cloud!
Sensory
swarm
Mobile
access
Courtesy: J. Rabaey
Copyright Alberto Sangiovanni Vincentelli 11 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

Intelligent systems that gather, synthesize and apply information will
change the way entire industries operate …
Smart energy
Smart water Smart traffic
Use real-time traffic prediction
Analyze customer usage and
provide customized products and
Apply monitoring and services that help to boost
management technologies to and dynamic tolling to reduce
congestion and its byproducts efficiency from the source through
help optimize the availability, the grid to the end user.
delivery, use, and quality of while positively influencing
water as well as related systems related systems.
including energy and chemical
treatment. Congestion
Water
Energy grid
Chemicals
Energy
Carbon
Carbon emissions
emissions
Noise Energy
Energy pollution sources
Public
transportation Smart home
13
Copyright Alberto Sangiovanni Vincentelli
Outline
• Prelude
• Opportunities in the wake of technology and
application evolution

CPS definition – Acatech, 2010 Integrated CPS agenda,
German National Academy
of Science and Engineering
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.
CPS relation to other concepts
Mechatronics
Embedded
systems
Big Data
CPS in the small Different perspectives!!
Set sizes are not representative

CPS CPS in Building systems out of the
the large
underlying technologies!
IoT
CPSoS SoS
Trend of increasing overlap!
CPS overview , Martin Törngren, KTH; – CPS summerschool, 16 16

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

Characterization – example: IT
Physical-Embedded-IT; Single vs. Cross Domain; Closed vs. Open;

Degree of Autonomy; Governance and Jurisdiction

Outline
• Prelude

Product development – creating new
values and mitigating risks
Threats
Sub-system
Sub-system
Cause
Stakeholder Cause
and
fault models Value!
Service!
Hazards Business
Context! model?
Reasoning:
- Inside out
- Outside in External
Accident
- ”out of the box”! Event
Probability? Severity?

Technological Organizational/Business Societal
Push Pull
Software Desired properties? Societal impact Energy
Networking Performance! Legislation; standards
Wireless com. Risks & costs! Education Transportation
Sensors and actuators Sustainability!
Packaging/integration Healthcare
Computing technology
Software platforms Competitive
Control methods production
Tools
… Comfort
Science and Economy
Technology Management
Continued education
Entertainment

”Purely” mechanical vehicle
Susp Brake Steer Wheel Diff Trans Clutch Eng Driver
Susp X X
Brake X X
Steer X X
Wheel X X X X
Diff X X
Trans X X
Clutch X X X
Eng X
Driver X X X
X – Mechanical relations

Fully programmable vehicle!
Susp Brake Steer Wheel Diff Trans Clutch Eng Driver
Susp P P X+P P P P P X+P
Brake P P X+P P P P P X+P
Steer P P X+P P P P P X+P
Wheel X X X+P X
Diff P P P X+P X+P P P
Trans P P P P X+P X+P P P
Clutch P P P X+P X+P P
Eng P P P P P P X+P P
Driver P X+P X+P P P X+P P
P – Programmable relations
X – Possible change
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

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

Viewpoints and relationships Architecture
Software
ECU/electronics Networking
CAN database
Sensing,
estimation Integration tests
and control
10100
101000110100111001010011
011010011100101001 Safety
Vehicle
dynamics
110100011010011100
Project 1010011
Management
101000110100111000
10011
Quality
• Power
Mechanical CAD, PDM • Propulsion
Maintenance, Production/ Diagnostics, components
parameterization Support tools • Thermal
After-market

Multi-level approach for dealing with
viewpoint interrelations
Technology
Level
Technology
Level

Outline
• Prelude

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, …

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;

References
• CyPhERS - http://www.cyphers.eu/
• German agenda CPS:
http://www.cyphers.eu/sites/default/files/acatech_S
TUDIE_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).


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Cyber-Physical Systems:

• Badminton robot, courtesy of FMTC

CPS overview , Martin Törngren, KTH; – CPS summerschool, 2 2

Not new but

• From closed systems to ubiquitous mass-products

CPS overview , Martin Törngren, KTH; – CPS summerschool, 4

CPS overview , Martin Törngren, KTH; – CPS summerschool, 5

CPS overview , Martin Törngren, KTH; – CPS summerschool, 6

Market Push RMS collaboration

Intelligent Sensors / Open Architecture Controllers

Google's robotic cars have about $150,000 in equipment

Copyright Alberto Sangiovanni Vincentelli 12

CPS overview , Martin Törngren, KTH; – CPS summerschool, 14

A Cyber-Physical System (CPS) is a system with embedded software

Set sizes are not representative

CPS overview , Martin Törngren, KTH; – CPS summerschool, 16 16

CPS overview , Martin Törngren, KTH; – CPS summerschool, 17

Physical-Embedded-IT; Single vs. Cross Domain; Closed vs. Open;

CPS overview , Martin Törngren, KTH; – CPS summerschool, 18

CPS overview , Martin Törngren, KTH; – CPS summerschool, 19

CPS overview , Martin Törngren, KTH; – CPS summerschool, 20

CPS overview , Martin Törngren, KTH; – CPS summerschool, 21

CPS overview , Martin Törngren, KTH; – CPS summerschool, 22

• Scientific Challenges: Multi-Paradigm

CPS overview , Martin Törngren, KTH; – CPS summerschool, 24

• Education Challenges: Competence

CPS overview , Martin Törngren, KTH; – CPS summerschool, 25

CPS overview , Martin Törngren, KTH; – CPS summerschool, 26

CPS overview , Martin Törngren, KTH; – CPS summerschool, 27

CPS overview , Martin Törngren, KTH; – CPS summerschool, 28

• Opportunities – Improving life – and saving

CPS overview , Martin Törngren, KTH; – CPS summerschool, 29

CPS overview , Martin Törngren, KTH; – CPS summerschool, 30

CPS overview , Martin Törngren, KTH; – CPS summerschool, 31

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