Industry 4.

0 in Mechanical Engineering

Chapter 2 Cyber-Physical System

Prof. Lưu Thanh Tùng
 Industry 4.0 in Mechanical Engineering

Content
1. Cyber-Physical System Application Domains

2. Symbolic Synthesis for Cyber-Physical Systems

 Industry 4.0 in Mechanical Engineering

Medical Cyber Physical Systems

- The goal of MCPS is to improve the effectiveness of patient care by
providing personalized treatment through sensing and patient model
matching while ensuring safety.
- However, the increased scope and complexity of MCPS relative to
traditional medical systems present numerous developmental
challenges. These challenges need to be systematically addressed
through the development of new design, composition, verification,
and validation techniques.
Cyber-Physical
Systems https://www.youtube.com/watch?v=vVeyePVg8cI
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Medical Cyber Physical Systems

Various challenges involved in building MCPS
- Stand-alone device: A model-based high-assurance software
development scheme is described for stand-alone medical devices
such as patient-controlled analgesia (PCA) pumps and pacemakers.
- Device interconnection: A medical device interoperability
framework is presented for describing, instantiating, and validating
clinical interaction scenarios.
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Medical Cyber Physical Systems

Various challenges involved in building MCPS
- Adding intelligence: A smart alarm system is presented that takes
vital signs data from various interacting devices to inform caregivers
of potential patient emergencies and non-operational issues about
the devices.
- Automated actuation/delivery: A model-based closed-loop care
delivery system is presented, which can autonomously deliver care
to the patients based on the current state of the patient.
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Medical Cyber Physical Systems

Various challenges involved in building MCPS
• Assurance cases: The use of assurance cases is described for
organizing collections of claims, arguments, and evidence to
establish the safety of a medical device system
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Medical Cyber Physical Systems

Devices used in MCPS can be categorized into two large groups
based on their primary functionality:
• Monitoring devices, such as bedside heart rate and oxygen level
monitors and sensors, which provide different kinds of clinic relevant
information about patients
• Delivery devices, such as infusion pumps and ventilators, which
actuate therapy that is capable of changing the patient’s
physiological state
Industry 4.0 in Mechanical Engineering

Medical Cyber Physical Systems

 Industry 4.0 in Mechanical Engineering

Medical Cyber Physical Systems

Virtual Medical Devices (VMD)

- Given the high complexity of MCPS, any such system has to be

usercentric; that is, it must be easy to set up and use, in a largely
automated manner. One way to accomplish this is to develop a
description of the MCPS workflow and then enforce it on physical devices.
- MCPS workflow can be described in terms of the number and types of
devices involved, their mutual interconnections, and the clinical
supervisory algorithm needed for coordination and analysis of data
collected by the system.
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Medical Cyber Physical Systems

Virtual Medical Devices (VMD)

The principal task of the VMD app, therefore, is to find the medical
devices in a VMD instance (which may be quite large), establish network
connections between them, and install the clinical algorithm into the
supervisor module of the middleware for managing the interactions of the
clinical workflow and the reasoning about the data produced.
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Medical Cyber Physical Systems

Clinical Scenarios

The principal task of the VMD app, therefore, is to find the medical
devices in a VMD instance (which may be quite large), establish network
connections between them, and install the clinical algorithm into the
supervisor module of the middleware for managing the interactions of the
clinical workflow and the reasoning about the data produced.
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Medical Cyber Physical Systems

Four trends in MCPS

Evolution of the field: software as the main driver of new features, device
interconnection, closed loops that automatically adjust to physiological
response, and a new focus on continuous monitoring and care.
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Medical Cyber Physical Systems

New Software-Enabled Functionality

- Following the general trend in the field of embedded systems, and more
broadly in cyber-physical systems, introduction of new functionality is
largely driven by the new possibilities that software-based development of
medical device systems is offering.
- A prime example of the new functionality is seen in the area of robotic
surgery, which requires real-time processing of high-resolution images
and haptic feedback.
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Medical Cyber Physical Systems

New Software-Enabled Functionality

- Another example is proton therapy treatment. One of the most

technology-intensive medical procedures, it requires one of the largest
scale medical device systems. To deliver its precise doses of radiation
to patients with cancer, the treatment requires precise guiding of a
proton beam from a cyclotron to patients, but must be able to adapt to
even minor shifts in the patient’s position.
- Control of proton beams is subject to very tight timing constraints, with
much less tolerance than for most medical devices.
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Medical Cyber Physical Systems

Increased Connectivity of Medical Devices

- In essence, interconnected medical devices form a distributed medical

device system of a larger scale and complexity that must be properly
designed and validated to ensure effectiveness and patient safety.
- Today, the networking capabilities of medical devices are primarily
exploited for patient monitoring purposes (through local connection of
individual devices to integrated patient monitors or for remote
monitoring in a tele-ICU [Sapirstein09] setting) and for interaction with
electronic health records to store patient data
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Medical Cyber Physical Systems

Increased Connectivity of Medical Devices

- In essence, interconnected medical devices form a distributed medical

device system of a larger scale and complexity that must be properly
designed and validated to ensure effectiveness and patient safety.
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Medical Cyber Physical Systems

Physiological Closed-Loop Systems

- Traditionally, most clinical scenarios have a caregiver—and often more

than one—controlling the process. There is a concern in the medical
community that such reliance on humans being in the loop may
compromise patient safety.
- Caregivers, who are often overworked and operate under severe time
pressures, may miss a critical warning sign. Nurses, for example,
typically care for multiple patients at a time and can become distracted.
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Medical Cyber Physical Systems

Physiological Closed-Loop Systems

- Scenarios based on physiological closed-loop control have been used

in the medical device industry for some time.
- Their application has been mostly limited to implantable devices that
cover relatively well-understood body organs—for example, the heart,
in the case of pacemakers and defibrillators.
- Implementing closed-loop scenarios in distributed medical device
systems is a relatively new idea that has not made its way into
mainstream practice as yet.
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Medical Cyber Physical Systems

Continuous Monitoring and Care

- Due to the high costs associated with in-hospital care, there has been
increasing interest in alternatives such as home care, assisted living,
telemedicine, and sport-activity monitoring. Mobile monitoring and
home monitoring of vital signs and physical activities allow health to be
assessed remotely at all times.
 Industry 4.0 in Mechanical Engineering

Medical Cyber Physical Systems

Continuous Monitoring and Care

- Due to the high costs associated with in-hospital care, there has been
increasing interest in alternatives such as home care, assisted living,
telemedicine, and sport-activity monitoring. Mobile monitoring and
home monitoring of vital signs and physical activities allow health to be
assessed remotely at all times.
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Medical Cyber Physical Systems

Quality Attributes and Challenges of the MCPS Domain

Building MCPS applications requires ensuring the following quality

attributes, which in turn pose significant challenges:
- Safety: Software is playing an increasingly important role in medical
devices.
- Interoperability: Many modern medical devices are equipped with
network interfaces, enabling us to build MCPS with new capabilities by
combining existing devices.
 Industry 4.0 in Mechanical Engineering

Medical Cyber Physical Systems

Quality Attributes and Challenges of the MCPS Domain

Building MCPS applications requires ensuring the following quality

attributes, which in turn pose significant challenges:
- Context-awareness: Integration of patient information from multiple
sources can provide a better understanding of the state of the patient’s
health, with the combined data then being used to enable early
detection of ailments and generate effective alarms in the event of
emergency.
 Industry 4.0 in Mechanical Engineering

Medical Cyber Physical Systems

Quality Attributes and Challenges of the MCPS Domain

Building MCPS applications requires the following quality attributes:

- Autonomy: The computational intelligence that MCPS possess can be
applied to increase the autonomy of the system by enabling actuation of
therapies based on the patient’s current health state.
- Security and privacy: Medical data collected and managed by MCPS
are very sensitive. Unauthorized access or tampering with this
information can have severe consequences to the patient in the form of
privacy loss, discrimination, abuse, and physical harm.
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Medical Cyber Physical Systems

Quality Attributes and Challenges of the MCPS Domain

Building MCPS applications requires the following quality attributes:

- Certification: The complex and safety-critical nature of MCPS requires a
cost-effective way to demonstrate medical device software
dependability. Certification, therefore, is both an essential requirement
for the eventual viability of MCPS and an important challenge to be
addressed.
Industry 4.0 in Mechanical Engineering

Problems
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Mechanical Cyber Physical Systems

Analysis and Design of Cyber-Physical Systems

- A cyber-physical system is a system that combines physical and

computer or cyber components.
- Cyber-physical systems that are modeled by the interconnections of by
physical components, cyber components, and the systems needed to
interconnect them

Cyber-Physical Systems_ From Theory to Practice

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Mechanical Cyber Physical Systems

Models of physical components

- The physical components of a cyber-physical system include the analog

elements, physical systems, and the environment.
- Among the many possible models available, we will capture the
dynamics of the physical components by differential equations or
inclusions.
- This type of semantics is very common in the modeling of the so-called
environment in embedded systems.
 Industry 4.0 in Mechanical Engineering

Mechanical Cyber Physical Systems

Models of physical components
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Mechanical Cyber Physical Systems

Models of cyber components

- The cyber components of a cyber-physical system include those which

are in charge of performing computations, implementing algorithms, and
transmitting digital data over networks.
 Industry 4.0 in Mechanical Engineering

Mechanical Cyber Physical Systems

Models of cyber components

- The general mathematical description of the cyber component is:

is the state space.

denote the input signals affecting the cyber component
to be the output defined by the output function κ, which is a function
of the state η and of the input v
 Industry 4.0 in Mechanical Engineering

Mechanical Cyber Physical Systems

Models of cyber components

- The general mathematical description of the cyber component is:

is the state space.

denote the input signals affecting the cyber component
to be the output defined by the output function κ, which is a function
of the state η and of the input v
 Industry 4.0 in Mechanical Engineering

Mechanical Cyber Physical Systems

Models of systems at the interface between physical and cyber
components
- The models describing the behavior of the physical and the cyber
components have significantly different dynamics: the former has
continuous dynamics while the latter has discrete dynamics (Physical
And Cyber Components).
- As a result, their interconnection requires interfaces that condition and
convert the signals appropriately.
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Mechanical Cyber Physical Systems

Analog-to-Digital Converters
- Analog-to-digital converters, or simply sampling devices, are
commonly used to provide measurements of the physical systems to
the cyber components.
- Their main function is to sample their input which is usually the output
of the sensors measuring the output y, at a given periodic rate Ts ∗
and to make these samples available to the embedded computer
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Mechanical Cyber Physical Systems

Digital-to-Analog Converters
- The digital signals in the cyber components need to be converted to
analog signals for their use in the physical world. DACs perform such a
task by converging digital signals into analog equivalents.
- Its output is updated at discrete time instants, typically periodically, and
held constant in between updates, until new information is available at
the next sampling time.
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Mechanical Cyber Physical Systems

Digital-to-Analog Converters
- The digital signals in the cyber components need to be converted to
analog signals for their use in the physical world. DACs perform such a
task by converging digital signals into analog equivalents.
- Its output is updated at discrete time instants, typically periodically, and
held constant in between updates, until new information is available at
the next sampling time.
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Mechanical Cyber Physical Systems

Digital Networks
- The information transfer between the physical and cyber components,
or between subsystems within the cyber components, might occur over a
digital communication network.
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Mechanical Cyber Physical Systems

Combining models of physical and cyber components
- The information transfer between the physical and cyber components,
or between subsystems within the cyber components, might occur over a
digital communication network.

Series topology feedback topology

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Mechanical Cyber Physical Systems

Complexity of designing cyber-physical systems
- Computers these days are no longer just stand-alone machines such as
our desktops or laptops. They are parts of systems like airplanes, trains,
and nuclear power plants, but also cars, pacemakers, “smart buildings,”
and the electric power grid.
- Such systems, called cyber-physical systems (CPS) integrate cyber
parts (the computer or computers in the system), physical parts (e.g., the
car chassis, engine, wheels, etc., or the human heart), and various other
interfacing and connecting components.
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Mechanical Cyber Physical Systems

Model-based design (MBD)
- The main idea is to design a system primarily with the help of models,
rather than prototypes. Building a model (sometimes called a virtual
system) is much easier, cheaper, and safer, than building a (physical)
prototype.
- It is important that these automated implementation techniques are
semantics preserving, meaning that they guarantee that the
synthesized implementation preserves the properties of the original
model.
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Mechanical Cyber Physical Systems

Sensors and Applications
- In order to ensure high quality of sensing data, sometimes, it is
required that there must be a minimum of K-sensors to cover any
given point in the targeted area (known as the K-coverage problem).
- For example, it needs three or more sensor coverage to determine the
speed and direction of an intrusion object in a targeted area.
 Industry 4.0 in Mechanical Engineering

Mechanical Cyber Physical Systems

Sensors and Applications
- In order to ensure high quality of sensing data, sometimes, it is
required that there must be a minimum of K-sensors to cover any
given point in the targeted area (known as the K-coverage problem).
- For example, it needs three or more sensor coverage to determine the
speed and direction of an intrusion object in a targeted area.
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Mechanical Cyber Physical Systems

Signal
STIMULATION MODEL (SSM)In order to ensure high quality of sensing
data, sometimes, it is required that there must be a minimum of K-
sensors to cover any given point in the targeted area (known as the K-
coverage problem).
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Mechanical Cyber Physical Systems

Signal stimulation model
The SSM model is defined by the following set of assumptions:
- Sensors—Each sensor has sensing, data storage, data processing, and
wireless communication capability.
- Sensor network—A sensor network consists of a set of homogeneous
sensors. Sensors can communicate with each other via wireless
channels in single or multiple hops.
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Mechanical Cyber Physical Systems

Signal stimulation model
The SSM model is defined by the following set of
assumptions:
- Deployed region—Sensors are deployed over
an open-space area. A virtual grid marks this
area. Each cell in the grid is a D-by-D square.
- To ensure the coverage and connectivity of a
sensor network, the model requires that D, Rc,
and Rs satisfy the following constraints:
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Mechanical Cyber Physical Systems

K-coverage theorems
- K-coverage problem: a CPS application is required to guarantee there
are at least k sensors whose sensing range can cover any given point
in the deployed region.
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Mechanical Cyber Physical Systems

Problem: