Cyber-physical Systems – A UMIC Perspective€¦ · Cyber-physical Systems: Consequences ! The...
Transcript of Cyber-physical Systems – A UMIC Perspective€¦ · Cyber-physical Systems: Consequences ! The...
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Cyber-physical Systems – A UMIC Perspective
Stefan Kowalewski
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©Prof. Dr-‐Ing. Stefan Kowalewski
Cyber-physical Systems: Characteristics
§ Integration of control systems with web/internet/cloud services
§ Closing of control loops via networks § Dynamic changes to the composition, structure,
interconnection, and requirements of CPS at runtime - Permanent upgrades and additions of functionality („apps“) - Dynamically changing environments/contexts - Rapidly changing requirements
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©Prof. Dr-‐Ing. Stefan Kowalewski
Cyber-physical Systems: Consequences
§ The boundary between design-time and run-time is blurring.
§ Changes will be partly unforeseeable and discrete in nature.
§ Success of a control system is critically depending on its ability to efficiently cope with such changes
§ à Need for appropriate methods
§ à Need for appropriate IT platforms
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Folie 4 / Westerkamp / Januar 2013
Positionspapier des GMA-Fachausschusses 7.20 „Cyber-Physical Systems“
Thesen und Handlungsfelder „Cyber-Physical Systems: Chancen und Nutzen aus Sicht der Automation“ April 2013
Kowalewski Juli 2014
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Folie 5 / Westerkamp / Januar 2013
Von der Automatisierungspyramide zur CPS-basierten Automation
Automatisierungspyramide
Betriebsleitebene
Prozess-leitebene
Steuerungs-ebene
Feld- ebene
CPS-basierte Automation
echtzeit-kritisch
Unternehmens-leitebene
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Folie 6 / Westerkamp / Januar 2013
Statusreport des GMA-Fachausschusses 7.20 „Cyber-Physical Systems“
Industrie 4.0 CPS-basierte Automation „Forschungsbedarf anhand konkreter Fallbeispiele“ Juli 2014 • 3 Fallbeispiele • 4 Themenbereiche Als Konkretisierung und Ergänzung des Whitepapers „Forschungs- und Entwicklungsaktivitäten“ der Plattform Industrie 4.0
Statusreport
Industrie 4.0
CPS-basierte Automation
Forschungsbedarf anhand konkreter Fallbeispiele
CPS-basierte Automation: Forschungsbedarf anhand konkreter Fallbeispiele
Juli 2014
Kowalewski Juli 2014
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Folie 7 / Westerkamp / Januar 2013
Vier Themenbereiche im Überblick
1. Übertragung von Standard-IT-Lösungen 2. Anpassung von Automatisierungslösungen 3. Änderungsfähigkeit zur Laufzeit 4. Durchgängiges Systems-Engineering
Kowalewski Juli 2014
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Folie 8 / Westerkamp / Januar 2013
Vier Themenbereiche im Überblick
1. Übertragung von Standard-IT-Lösungen 2. Anpassung von Automatisierungslösungen 3. Änderungsfähigkeit zur Laufzeit 4. Durchgängiges Systems-Engineering
Kowalewski Juli 2014
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©Prof. Dr-‐Ing. Stefan Kowalewski
Three examples
Real-time capable
mobile devices Run-time validation Architecture
DPL
M1 M2 M3
V1 V2 V3 V6V4 V5
Wrapper
Operating System
Hardware Abstraction Layer
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©Prof. Dr-‐Ing. Stefan Kowalewski
Three examples
Real-time capable
mobile devices Run-time validation Architecture
DPL
M1 M2 M3
V1 V2 V3 V6V4 V5
Wrapper
Operating System
Hardware Abstraction Layer
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©Prof. Dr-‐Ing. Stefan Kowalewski
Android
§ RTAndroid - Real-time capable scheduling - Automatic real-time Garbage Collection - Reliable wireless communication - Accessing peripheral I/O - Full backward compatibility
Run9me Libraries
Applica9on Framework
Applica9ons
Linux Kernel
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©Prof. Dr-‐Ing. Stefan Kowalewski
§ Android 2.2 § CPU: 528 MHz § RAM: 192 MB
Available Hardware
§ Android 4.2.2 § CPU: 2 x 1.7 GHz § RAM: 2 GB
Google G1 Google Nexus 10 Galaxy S4
§ Android 4.2.2 § CPU: 4 x 1.9 GHz § RAM: 2 GB
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©Prof. Dr-‐Ing. Stefan Kowalewski
Scheduling Latency
§ Periodic execution: every 5 ms § Non-RT process vs. RT process § Additional CPU load
0
200
400
600
800
1000
0 5000 10000 15000 20000
Late
ncy
7780 2449
0 5000 10000 15000 20000 0
200
400
600
800
1000
Late
ncy
[ms] [µs] Non-RT Process RT Process
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©Prof. Dr-‐Ing. Stefan Kowalewski
Proof of concept: Android-PLC
§ Everything on a single device - Write PLC programs - Compile - Generate UI - Run and simulate I/O
Write Execute
Parse Generate Compile
Shared Library
C++ {}
Abstract Syntax Tree
ST
Original Code Generated Code
§ Model transformation & code generation
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©Prof. Dr-‐Ing. Stefan Kowalewski
Performance Evaluation
PROGRAM PLC_PRG1 VAR i : DINT; counter : DINT; END_VAR VAR_OUTPUT out : BYTE; END_VAR FOR i := 0 TO 10000 DO counter := counter + 1; END_FOR out := out + 1; END_PROGRAM
Structured Text
Device Avg. (µs) Max. (µs)
ABB PM554 5000,0 6000,0
Google G1 1072,3 1220,7
Nexus 10 128,6 182,2
§ PLC: ABB PM554 § RTAndroid
- Google G1 and Nexus 10 - Inside a real-time process - With or without CPU load
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©Prof. Dr-‐Ing. Stefan Kowalewski
Three examples
Real-time capable
mobile devices Run-time validation Architecture
DPL
M1 M2 M3
V1 V2 V3 V6V4 V5
Wrapper
Operating System
Hardware Abstraction Layer
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Formal Verifica9on of SoRware
Code (or Model)
Formal Model
Requirements
Formal Specifica9on
Checking Algorithm
sa9sfies?
„Yes“ Hint for bug search
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Model of PLC Program Execu9on
PLC program
var1=7, var2=10
Inputs Outputs 0 0 12
TRUE
47 FALSE FALSE 0
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Model of PLC Program Execu9on
PLC program
var1=7, var2=10
Inputs Outputs
in out var
0 0 12
TRUE
47 FALSE FALSE 0
“State”:
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Model of PLC Program Execu9on
in out var
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Model of PLC Program Execu9on
in
in’ in’’
out
out’’ out’
var
var’ var’’
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Model of PLC Program Execu9on
in
in’ in’’
out
out’’ out’
var
var’ var’’
... ... ... ...
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Model of PLC Program Execu9on
in
in’ in’’
out
out’’ out’
var
var’ var’’
... ... ... ...
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Searching the “State Space”
input0, input1 INPUT
output0 OUTPUT
var0 GLOBAL
Type BYTE 0..255
input0 = 0 3
255
2 255 1
… …
input1 =
0
1 0 0 0 0
… …
… …
IF input0+50 =< 100 THEN output0 := var0;
ELSE var0 := input1;
ENDIF;
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Searching the “State Space”: Abstrac9on
25
input0, input1 INPUT
output0 OUTPUT
var0 GLOBAL
Type BYTE 0..255
input0 =
…
input1 =
…
… [0, 49] [0, 255]
[50, 255] [0, 0]
[50, 255] [50, 255] [1, 1] [255, 255]
IF input0+50 =< 100 THEN output0 := var0;
ELSE var0 := input1;
ENDIF;
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Example: Value Set Analysis in ARCADE.PLC
26
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©Prof. Dr-‐Ing. Stefan Kowalewski
Three examples
Real-time capable
mobile devices Run-time validation Architecture
DPL
M1 M2 M3
V1 V2 V3 V6V4 V5
Wrapper
Operating System
Hardware Abstraction Layer
![Page 28: Cyber-physical Systems – A UMIC Perspective€¦ · Cyber-physical Systems: Consequences ! The boundary between design-time and run-time is blurring. ! Changes will be partly unforeseeable](https://reader033.fdocuments.us/reader033/viewer/2022060606/605c41de1041b02cc848f6f2/html5/thumbnails/28.jpg)
©Prof. Dr-‐Ing. Stefan Kowalewski
Example: Extra-corporal membrane oxygenation (ECMO)
2.0 l/min 2.0 l/min 2.0 l/min 2.0 l/min 2.0 l/min 2.0 l/min
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©Prof. Dr-‐Ing. Stefan Kowalewski
ECMO: State of the art
• Completely manual operation
• Permanent supervision
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©Prof. Dr-‐Ing. Stefan Kowalewski
Automated ECMO à SmartECLA (extra-corporal lung assistance)
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©Prof. Dr-‐Ing. Stefan Kowalewski
Measurement Validation - Blood Gas Sensor
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©Prof. Dr-‐Ing. Stefan Kowalewski
According Simulink Model
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©Prof. Dr-‐Ing. Stefan Kowalewski
Software System Architecture
Operating System
Hardware Abstraction Layer
Data Provisioning Layer
Model
Wrapping Layer
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©Prof. Dr-‐Ing. Stefan Kowalewski
Wrapping Layer in Detail
DPL
M1 M2 M3
V1 V2 V3 V6V4 V5
Wrapper
Operating System
Hardware Abstraction Layer
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©Prof. Dr-‐Ing. Stefan Kowalewski
Workflow Generation(exhaustive)
Model development
Translation (RTW)
Preprocessor
Compiler
S-Functions
Simulink Model
C-Code
universal DPL
Customised Code (specialized DPL)
Binary (ELF)
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©Prof. Dr-‐Ing. Stefan Kowalewski
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©Prof. Dr-‐Ing. Stefan Kowalewski
Thank you!