A Survey of Cyber-Physical Systems

Jianhua Shi Jiafu Wan* Hehua Yan, Hui Suo

School of Physics and Electronics Science School of Computer Science and Engineering College of Electrical Engineering
Shanxi Datong University South China University of Technology Guangdong Jidian Polytechnic
Datong, China Guangzhou, China Guangzhou, China
[email protected] *Corresponding Author [email protected]

Abstract—Cyber-Physical Systems (CPSs) are characterized research challenges and some suggestions for future work and
by integrating computation and physical processes. The theories Section VI concludes this paper.
and applications of CPSs face the enormous challenges. The aim
of this work is to provide a better understanding of this emerging
II. FEATURES OF CPSS
multi-disciplinary methodology. First, the features of CPSs are
described, and the research progresses are summarized from Goals of CPSs research program are to deeply integrate
different perspectives such as energy control, secure control, physical and cyber design. The diagrammatic layout for CPSs
transmission and management, control technique, system is shown in Figure 1. Obviously, CPSs are different from
resource allocation, and model-based software design. Then three desktop computing, traditional embedded/real-time systems,
classic applications are given to show that the prospects of CPSs today’s wireless sensor network (WSN), etc. and they have
are engaging. Finally, the research challenges and some some defining characteristics as follows [7-10].
suggestions for future work are in brief outlined.
• Closely integrated. CPSs are the integrations of
Keywords – cyber-physical systems (CPSs); communications; computation and physical processes.
computation; control
• Cyber capability in every physical component and
resource-constrained. The software is embedded in
I. INTRODUCTION every embedded system or physical component, and
Cyber-Physical Systems (CPSs) integrate the dynamics of the system resources such as computing, network
the physical processes with those of the software and bandwidth, etc. are usually limited.
communication, providing abstractions and modeling, design,
and analysis techniques for the integrated whole[1]. The • Networked at multiple and extreme scales. CPSs, the
dynamics among computers, networking, and physical systems networks of which include wired/wireless network,
interact in ways that require fundamentally new design WLAN, Bluetooth, GSM, etc. are distributed systems.
technologies. The technology depends on the multi-disciplines Moreover, the system scales and device categories
such as embedded systems, computers, communications, etc. appear to be highly varied.
and the software is embedded in devices whose principle • Complex at multiple temporal and spatial scales. In
mission is not computation alone, e.g. cars, medical devices, CPSs, the different component has probably inequable
scientific instruments, and intelligent transportation systems
[2]. Now the project for CPSs engages the related researchers
very much.
Since 2006, the National Science Foundation (NSF) has
awarded large amounts of funds to a research project for CPSs.
Many universities and institutes (e.g. UCB, Vanderbilt,
Memphis, Michigan, Notre Dame, Maryland, and General
Motors Research and Development Center, etc.) join this
research project [3, 4]. Besides these, the researchers from
other countries have started to be aware of significance for
CPSs research. In [5-7], the researchers are interested in this
domain, including theoretical foundations, design and
implementation, real-world applications, as well as education.
As a whole, although the researchers have made some progress
in modeling, control of energy and security, approach of
software design, etc. the CPSs are just in an embryonic stage.
The rest of this paper is outlined as follows. Section II
introduces the features of CPSs. From different perspectives, Figure 1. Diagrammatic layout for CPSs
the research processes are summarized in Section III. Section
IV gives some classic applications. Section V outlines the

978-1-4577-1010-0/11/$26.00 ©2011 IEEE

 granularity of time and spatiality, and CPSs are strictly scheduling solutions to improve security quality of wireless
constrained by spatiality and real time. networks for mission-critical cyber-physical applications.
• Dynamically reorganizing/reconfiguring. CPSs as very
C. Transmission and Management
complicated systems must have adaptive capabilities.
CPSs need to conduct the transmission and management of
• High degrees of automation, control loops must close. multi-modal data generated by different sensor devices. In [27],
CPSs are in favor of convenient man-machine a novel information-centric approach for timely, secure real-
interaction, and the advanced feedback control time data services in CPSs is proposed. In order to obtain the
technologies are widely applied to these systems. crucial data for optimal environment abstraction, L. H. Kong et
• Operation must be dependable, certified in some cases. al [28] study the spatio-temporal distribution of CPS nodes. H.
As a large scale/complicated system, the reliability and Ahmadi et al [29] present an innovative congestion control
security are necessary for CPSs. mechanism for accurate estimation of spatio-temporal
phenomena in wireless sensor networks performing monitoring
applications. A dissertation on CPSs discusses the design,
III. REASEARCH PROCESS implementation, and evaluation of systems and algorithms that
Since 2007, American government has treated CPSs as a enable predictable and scalable real-time data services for CPS
new development strategy. Some researchers from various applications [30]. Now, the exiting results are still rare, and
countries discussed the related concepts, technologies, there are many facets to be studied.
applications and challenges during CPSweek and the
international conference on CPS subject [11]. The results of D. Model-based Software Design
this research mainly concentrate in the following respects [7]. Now, the main model-based software design methods
include Model Driven Development (MDD) (e.g. UML),
A. Energy Control Model-Integrated Computing (MIC), Domain-Specific
One of the features of CPSs is distributed system. Though Modeling (DSM), etc [31, 32]. An example, abstractions in the
the vast majority of devices in CPSs need less energy, the design flow for DSM, is shown in Figure 2. These methods
energy supply is still a great challenge because the demand and have been widely applied to the embedded system design [34,
supply of energy is inconvenient. 35]. On the basis of these, some researchers conduct model-
based software design for CPSs in the following aspects: event
In [12], a control strategy is proposed for realizing best model, physical model, reliability and real-time assurance, etc.
trade-off between satisfying user requests and energy
consumption in a data center. In [13-15], these papers concern
the basic modeling of cyber-based physical energy systems. A Abstraction layers
novel cyber-based dynamic model is proposed in which a define platforms
resulting mathematical model greatly depends on the cyber
technologies supporting the physical system. F. M. Zhang et al
Platform mapping
[16] design optimal and adaptive discharge profile for a square
wave impulsive current to achieve maximum battery life. J.
Abstractions are linked
Wei et al and C. J. Xue et al [17, 18] develop an optimal lazy through refinement
scheduler to manage services with minimum energy relations
expenditure while not violating time-sensitive constraints. In
[19], a peak inlet temperature minimization problem is
formulated to improve the energy efficiency. J. R. Cao et al [20] Platform mapping
present a clustering architecture in order to obtain good
performance in energy efficiency. Abstraction layers allow
the verification of
B. Secure Control different properties
Now, the research for secure control mainly includes key
management, identity authentication, etc. In [21], the existing
Figure 2. Abstractions in the design flow for DSM [33]
security technologies for CPSs are summarized, and main
challenges are proposed. C. Singh et al [22] explore the topic
1) Event model. E. A. Lee et al [36] make a case that the
of the reliability assurance of CPSs and possibly stimulate
time is right to introduce temporal semantics into programming
more research in this area. T. T. Gamage et al [23] give a
models for CPSs. A programming model called programming
general theory of event compensation as an information flow
temporally-integrated distributed embedded systems (PTIDES)
security enforcement mechanism for CPSs. Then a case study
provides a coordination language rooted in discrete-event
is used to demonstrate this concept. In [24], a certifcateless
semantics, supported by a lightweight runtime framework and
signature scheme for mobile wireless CPSs is designed and
tools for verifying concurrent software components. In [37], a
validated. Y. Zhang et al [25] present an adaptive health
concept lattice-based event model for CPSs is proposed. This
monitoring and management system model that defines the
model not only captures the essential information about events
fault diagnosis quality metrics and supports diagnosis
in a distributed and heterogeneous environment, but it also
requirement specifications. J. Wei et al [26] exploit message
allows events to be composed across different boundaries of Liberatore [53] gives a new train of thought on bandwidth
different components and devices within and among both cyber allocation in CPSs. In [54], the model dynamics are presented
and physical domains. In addition, A CPS architecture along to express the properties of both software and hardware of
with a novel event model for CPS is developed [38]. CPSs, which is used to do resource allocation. K. W. Li et al
[55] research the problem of designing a distributed algorithm
2) Physical model. In [39], a methodology for automatically for joint optimal congestion control and channel assignment in
abstracting models of CPSs is proposed. The models are the multi-radio multi-channel networks for CPSs. The ductility
described using a user-defined language inspired by assembly metric is developed to characterize the overload behavior of
code. For mechanical systems, Y. Zhu et al [40] show how mixed-criticality CPSs in [56].
analytical models of a particular class of physical systems can
be automatically mapped to executable simulation codes. S. Jha
et al [41] present a new approach to assist designers by IV. CLASSIC APPLICATIONS
synthesizing the switching logic, given a partial system model, Applications of CPSs include medical devices and systems,
using a combination of fixpoint computation, numerical assisted living, traffic control and safety, advanced automotive
simulation, and machine learning. This technique quickly systems, process control, energy conservation, environmental
generates intuitive system models. control avionics and aviation software, instrumentation, critical
3) Reliability and real-time assurance. E. A. Lee [42] infrastructure (e.g. power, water), distributed robotics, weapons
emphasizes the importance of security, reliability and real-time systems, manufacturing, distributed sensing command and
assurance in CPSs, and considers the effective orchestration of control, smart structures, biosystems, communications systems,
software and physical processes requires semantic models. etc.[9, 10]. The classic application architecture of CPSs is
From the perspective of soft real-time and hard real-time, U. described in [38]. Now, some application cases for CPSs have
Kremer [43] conducts the research that the role of time in CPS been conducted in [57-64]. Here, three examples (Health Care
applications has a fundamental impact on the design and and Medicine, Intelligent Road and Unmanned Vehicle, and
requirements. In CPSs, the heterogeneity causes major Electric Power Grid) are used to illuminate the classic
challenges for compositional design of large-scale systems applications of CPSs [8, 9].
including fundamental problems caused by network
uncertainties, such as time-varying delay, jitter, data rate A. Health Care and Medicine
limitations, packet loss and others. To address these The domain of health care and medicine includes national
implementation uncertainties, X. Koutsoukos et al [44] propose health information network, electronic patient record initiative,
a passive control architecture. For improving reliability, T. L. home care, operating room, etc. some of which are increasingly
Crenshaw et al [45] describe a simplex reference model to controlled by computer systems with hardware and software
assist developers with CPS architectures which limit fault- components, and are real-time systems with safety and timing
propagation. A highly configurable and reusable middleware requirements. A case of CPSs, an operating room, is shown in
framework for real-time hybrid testing is provided in [46]. Figure 3.
Though the model-based software design has an early start,
the present development of CPSs progresses at a fast enough
rate to provide a competitive challenge.

E. Control Technique
Compared with other control applications, the control
technique for CPSs is still at an elementary stage. F. M. Zhang
et al [2] develop theoretical results in designing scheduling
algorithms for control applications of CPS to achieve balances
among robustness, schedulability and power consumption.
Moreover, an inverted pendulum as a study object is designed
to validate the proposed theory. N. Kottenstette et al [47]
describe a general technique: passivity and a particular
controller structure involving the resilient power junction. In
[48], a design and implementation of CPSs for neutrally
controlled artificial legs is proposed. In [49], J. L. Ny et al Figure 3. A case of CPSs: An operating room [8, 9]
approach the problem of certifying a digital controller
implementation from an input-output, robust control B. Electric Power Grid
perspective. The power electronics, power grid, and embedded control
software form a CPS, whose design is heavily influenced by
F. System Resource Allocation fault tolerance, security, decentralized control, and economic/
Until now, the relative research for system resource ethical social aspects [65]. In [8, 9], a case of CPSs, electric
allocation mainly focuses on embedded/real-time systems, power grid, is given as shown in Figure 4.
networked control systems, WSN, etc [50-52]. Towards the
complicated CPSs, this work is in the beginning stage. V.
 and refining critical information from the vast amount of raw
data is essential.
3) Robustness, reliability, safety, and security. It is a critical
challenge because uncertainty in the environment, security
attacks, and errors in physical devices make ensuring overall
system robustness, security, and safety. Exploiting the physical
nature of CPS by leveraging location-based, time-based and
tag-based mechanisms is to realize security solutions.
4) Abstractions. This aspect includes real-time embedded
systems abstractions and computational abstractions, which
needs new resource allocation scheme to ensure that fault
tolerance, scalability, optimization, etc. are achieved. New
Figure 4. A case of CPSs: Electric power grid [8, 9] distributed real-time computing and real-time group
communication methods are needed. In addition, the physical
properties also should be captured by programming
C. Integrate Intelligent Road with Unmanned Vehicle abstractions.
With the development of sensor network, embedded
5) Model-based development. Though there several existing
systems, etc. some new solutions can be applied to unmanned
model-based development methods, they are far from meeting
vehicle. We are conducting a program that intelligent road and
demands in CPSs. Computing and communications, and
unmanned vehicle are integrated in the form of CPSs. Figure 5
physical dynamics must be abstracted and modeled at different
shows another case of CPSs: Integrate intelligent road with
levels of scale, locality, and time granularity.
unmanned vehicle.
6)Verification, validation, and certification. The interaction
between formal methods and testing needs to be established.
Highway
We should apply the heterogeneous nature of CPS models to
Vision compositional verification and testing methods.

IP VI. CONCLUSIONS
GPS Vision In the last few years, this emerging domain for CPSs has
UV been attracting the significant interest, and will continue for
IP the years to come. In spite of rapid evolution, we are still
GPS facing new difficulties and severe challenges. In this literature,
UV
we concisely review the existing research results that involve
energy control, secure control, model-based software design
transmission and management, control technique, etc. On this
UV: Unmanned Vehicle : Sensor Node basis, some classic applications used to show the good
IP: Information Processing prospects. Then, we propose several research issues and
encourage more insight into this new field.
Figure 5. A case of CPSs: Integrate intelligent road with unmanned vehicle
ACKNOWLEDGMENT
This work was supported in part by the National Natural
V. RESEARCH CHALLENGES Science Foundation of China (No. 50905063), China
CPSs as a very active research field, a variety of questions Postdoctoral Science Foundation (No. 20090460769), the
need to be solved, at different layers of the architecture and Natural Science Foundation of Guangdong Province (No.
from different aspects of systems design, to trigger and to ease S2011010001155), and the Fundamental Research Funds for
the integration of the physical and cyber worlds [66]. In [10, the Central Universities, SCUT (No. 2011ZM0070).
42, 66-68], the research challenges are mainly summarized as
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