Cyber physical systems foundations, principles and applications

Cyber-Physical Systems Cyber-Physical Systems Foundations, Principles and Applications Edited by Houbing Song West Virigina University, USA Danda B Rawat Howard University, USA Sabina Jeschke RWTH Aachen University, Germany Christian Brecher RWTH Aachen University, Germany Series Editor Fatos Xhafa Universitat Polite`cnica de Catalunya, Spain AMSTERDAM • BOSTON • HEIDELBERG • LONDON NEW YORK • OXFORD • PARIS • SAN DIEGO SAN FRANCISCO • SINGAPORE • SYDNEY • TOKYO Academic Press is an imprint of Elsevier Academic Press is an imprint of Elsevier 125 London Wall, London EC2Y 5AS, United Kingdom 525 B Street, Suite 1800, San Diego, CA 92101-4495, United States 50 Hampshire Street, 5th Floor, Cambridge, MA 02139, United States The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom # 2017 Elsevier Inc All rights reserved No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or 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India Contributors T Abdelzaher University of Illinois at Urbana-Champaign, Champaign, IL, United States V Adamchuk McGill University, Montreal, QC, Canada A Aerts Eindhoven University of Technology, Eindhoven, The Netherlands A Akintayo Iowa State University, Ames, IA, United States C Alcaraz University of Malaga, Malaga, Spain E Almodaresi Technical University Kaiserslautern, Kaiserslautern, Germany T.A Amin University of Illinois at Urbana-Champaign, Champaign, IL, United States W An Chinese Academy of Sciences, Beijing, China G Araniti University Mediterranea of Reggio, Calabria, Italy G Ascheid RWTH Aachen University, Aachen, Germany F Asplund KTH Royal Institute of Technology, Stockholm, Sweden P Bagade Arizona State University, Tempe, AZ, United States N Bajcinca Technical University Kaiserslautern, Kaiserslautern, Germany A Banerjee Arizona State University, Tempe, AZ, United States M Barhoush RWTH Aachen University, Aachen, Germany B Beckmann GE Global Research, Niskayuna, NY, United States S Bensalem University Grenoble Alpes, Grenoble, France F B€ ohle €nchen), Munich, Germany Institute for Social Science Research (ISF Mu xvii xviii Contributors E Bowman US Army Research Laboratory, Adelphi, MD, United States C Brecher RWTH Aachen University, Aachen, Germany D Cancila CEA, LIST, Gif-sur-Yvette, France C.G Cassandras Boston University, Boston, MA, United States M Castillo-Effen GE Global Research, Niskayuna, NY, United States L Cazorla University of Malaga, Malaga, Spain Q Chen Montana State University, Bozeman, MT, United States S Ci University of Nebraska-Lincoln, Lincoln, NE, United States T Citriniti GE Global Research, Niskayuna, NY, United States M Condoluci King’s College London, United Kingdom C.E Crawford Oak Ridge National Laboratory, Oak Ridge, TN, United States G Dartmann University of Applied Sciences Trier, Trier, Germany J Deng University of North Carolina at Greensboro, Greensboro, NC, United States M Dohler King’s College London, United Kingdom C Ecker RWTH Aachen University, Aachen, Germany T.W Edgar Pacific Northwest National Laboratory, Richland, WA, United States M Erol-Kantarci Clarkson University, Potsdam, NY, United States C Estevez University of Chile, Santiago, Chile A Ferrein Mobile Autonomous Systems & Cognitive Robotics Science, Aachen University of Applied Sciences, Aachen, Germany Contributors xix G.A Fink Pacific Northwest National Laboratory, Richland, WA, United States J George US Army Research Laboratory, Adelphi, MD, United States P Giridhar University of Illinois at Urbana-Champaign, Champaign, IL, United States N Golmie National Institute of Standards and Technology, Gaithersburg, MD, United States D Griffith National Institute of Standards and Technology, Gaithersburg, MD, United States F Guenab Alstom Transport, Saint-Ouen, France S.K.S Gupta Arizona State University, Tempe, AZ, United States S.T Hamman The Air Force Institute of Technology, WPAFB; Cedarville University, Cedarville, OH, United States W Herfs RWTH Aachen University, Aachen, Germany M Hoffmann RWTH Aachen University, Aachen, Germany K.M Hopkinson The Air Force Institute of Technology, WPAFB, OH, United States N Huchler €nchen), Munich, Germany Institute for Social Science Research (ISF Mu D.W Illig Clarkson University, Potsdam, NY, United States W.D Jemison Clarkson University, Potsdam, NY, United States S Jeschke Institute Cluster IMA/ZLW & IfU, RWTH Aachen University, Aachen, Germany Z Jiang Iowa State University, Ames, IA, United States L Kaplan US Army Research Laboratory, Adelphi, MD, United States A Koudri IRT SystemX, Palaiseau, France S Krishnamurthy Sony Computer Entertainment America, San Diego, CA, United States xx Contributors G.K Kurt Istanbul Technical University, Istanbul, Turkey G Lakemeyer Knowledge-Based Systems Group, RWTH Aachen University, Aachen, Germany H Liao GE Global Research, Niskayuna, NY, United States C Lin Dalian University of Technology; Key Laboratory for Ubiquitous Network and Service Software of Liaoning Province, Dalian, China G Liu Montana State University, Bozeman, MT, United States Y Liu Southeast University, Nanjing, China J Lopez University of Malaga, Malaga, Spain V L€ ucken RWTH Aachen University, Aachen, Germany H Luo Yahoo, San Jose, CA, United States D.G MacDonald Pacific Northwest National Laboratory, Richland, WA, United States G.W Maier Bielefeld University, Bielefeld, Germany S Mallapuram Towson University, Towson, MD, United States P.M.N Martins Imperial College London, London, United Kingdom J.A McCann Imperial College London, London, United Kingdom L.A McCarty Cedarville University, Cedarville, OH, United States J McDermid University of York, York, United Kingdom T Meisen RWTH Aachen University, Aachen, Germany P Moulema Towson University, Towson, MD, United States M.R Mousavi Halmstad University, Halmstad, Sweden Contributors R M€ uller Technische Universit€ at Dresden, Dresden, Germany S Narciss Technische Universit€ at Dresden, Dresden, Germany T Niemueller Knowledge-Based Systems Group, RWTH Aachen University, Aachen, Germany M Obdenbusch RWTH Aachen University, Aachen, Germany € S.K Otting Bielefeld University, Bielefeld, Germany R Passerone University of Trento, Trento, Italy H Pfeifer fortiss, Munich, Germany L Ren GE Global Research, Niskayuna, NY, United States M Reniers Eindhoven University of Technology, Eindhoven, The Netherlands S Reuter Institute Cluster IMA/ZLW & IfU, RWTH Aachen University, Aachen, Germany T.R Rice Pacific Northwest National Laboratory, Richland, WA, United States H Roy US Army Research Laboratory, Adelphi, MD, United States L.K Rumbaugh Clarkson University, Potsdam, NY, United States G Sagerer Bielefeld University, Bielefeld, Germany A Sangiovanni-Vincentelli University of California, Berkeley, CA, United States S Sarkar Iowa State University, Ames, IA, United States B Sch€ atz Technical University of Munich, Munich, Germany P Seetharamu University of Illinois at Urbana-Champaign, Champaign, IL, United States Z Shi C3 IoT, CA, United States xxi xxii Contributors E Soubiran Alstom Transport, Saint-Ouen, France A Tewari ExxonMobil Research & Engineering Company, Annadale, NJ, United States T T€ oniges Bielefeld University, Bielefeld, Germany M T€ orngren KTH Royal Institute of Technology, Stockholm, Sweden L Urbas Technische Universit€ at Dresden, Dresden, Germany D Wang University of Notre Dame, Notre Dame, IN, United States S Wang University of Illinois at Urbana-Champaign, Champaign, IL, United States H Wang University of Illinois at Urbana-Champaign, Champaign, IL, United States L Wouters IRT SystemX, Palaiseau, France B Wrede Bielefeld University, Bielefeld, Germany J Wu University of Chile, Santiago, Chile G Wu Dalian University of Technology; Key Laboratory for Ubiquitous Network and Service Software of Liaoning Province, Dalian, China D Wu University of Tennessee at Chattanooga, Chattanooga, TN, United States F Xia Dalian University of Technology; Key Laboratory for Ubiquitous Network and Service Software of Liaoning Province, Dalian, China Z Xu Chinese Academy of Sciences, Beijing, China B Xue Dalian University of Technology; Key Laboratory for Ubiquitous Network and Service Software of Liaoning Province, Dalian, China Q Yang Montana State University, Bozeman, MT, United States N Yao Georgia Institute of Technology, Atlanta, GA, United States Contributors W Yu Towson University, Towson, MD, United States E Zandi RWTH Aachen University, Aachen, Germany F Zhang Georgia Institute of Technology, Atlanta, GA, United States xxiii 470 Author Index Vardi, M.Y., 181 Varsamopoulos, G., 175–177, 184 Vaughn, R., 431 Vazirani, V.V., 409 Velasco, J.M., 267 Veloso, M., 194–195 Venkatasubramanian, K.K., 175 Venkatesh, B., 155 Verl, A., 330–331 Verma, N., 293 Veronese, G., 312 Vicente, K., 147 Vigo, R., 252 Viho, C., 290–291 Villa, T., 186–187 Villar, N., 425 Virili, M., 232, 235t Vishal, V., 287 Voigt, T., 184 Volpert, W., 122 V€ olz, M., 315 Vom Brocke, J., 328 Voss, C., 95 Voss, C.R., 165 Vossiek, M., 216 Vu, T., 228, 235t Vural, E., 422 Vuran, M.C., 401 W Waddington, R., 209 Wagner, D., 309–311 Wahlster, W., 193, 321–322, 330–331 Wakabayashi, K., 267 Walker, H.J., 424 Walker, L., 426 Wallace, W.A., 93 Walsh, O.S., 402 Wang, A., 422 Wang, B., 404 Wang, C., 165, 240–241, 244–245 Wang, D., 91–98, 166, 172 Wang, G., 403–404 Wang, H., 161–173 Wang, J., 210, 212, 217–218, 219t, 221, 228, 235t Wang, L., 7, 267, 403–404 Wang, N., 239 Wang, Q., 56 Wang, S., 95, 98, 161–173, 422 Wang, T., 43 Wang, W., 83, 162, 175–176, 404 Wang, X., 32, 79–80, 95, 166, 172, 432 Wang, Y., 178t, 186–187, 378, 432 Wang, Y.C., 35 Wang, Z., 245 Wardi, Y., 32–33, 35–40, 42, 184 Warfaumont, A., 154 Wark, T., 401 Wasilewska, A., 180 Waszak, F., 154–155 Watson, I., 156–157 Webster, S., 309–311 Wehner, J., 116, 124 Wehrle, K., 184 Wei, J., 229–230, 235t Weihrich, M., 121 Weise, C., 184 Welch, R., 147 Weld, D., 194–195 Welsh, M., 32, 184 Welzl, E., 244 Weng, J., 184 Wenzel, H., 378 Werner, S., 378 Werner-Allen, G., 239 Wesson, M.J., 424 West, B., 150 West, D.B., 19 West, R., 93 Westk€amper, E., 194–195 Wetherall, D., 210 Wetherall, D.J., 57 Weyer, J., 116, 119, 124 White, S., 403 Whitehill, J., 422 Whitehouse, K., 93–94 Wickens, C.D., 5, 145, 150, 152, 154–155 Wiczorek, R., 152–153 Wiemann, J.M., 117 Wiendahl, H.P., 203–204 Wilcox, J.C., 399 Wildermuth, D., 199 Wilkins, D., 194–195 Wilks, S., 274 Willemse, T.A., 294 Williamson, C., 184 Willsky, A.S., 277 Wiltshire, R., 378 Winter, A.S., 421 Wise, S., 162 Woicke, P., 120 Wolf, W., 56, 432 Wolpaw, E.W., 93–94 Wolpaw, J., 93–94 Wolpert, D., 252 Author Index Wolthusen, S., 315 Wong, J., 309–311 Wong, V., 431 Wongpiromsarn, T., 177, 181 Wong-Toi, H., 178t, 182, 183t Wonham, W.M., 32 Wood, K., 251 Wooders, J., 95 Woods, D.D., 147 Wouters, L., 363–375 Wozny, G., 150 Wrede, B., 419–427 Wu, C.H., 404 Wu, C.W., 19 Wu, D., 399–415 Wu, G., 239–248 Wu, H.Y., 227, 235t Wu, J., 225–234, 235t, 242, 245, 247–248 Wu, X., 240, 242–248 W€ unsch, D., 328 X Xi, W., 209 Xia, F., 239–248 Xiang, H., 402–403 Xianwei, Z., 227, 235t Xiao, C., 210, 212, 216–217, 219t, 220 Xiao, L., 16, 21 Xie, D., 252 Xie, J., 267 Xie, L., 22, 56, 58, 64, 226–227, 235t, 240, 243–244 Xin, D., 165 Xing, G., 57–58 Xing, K., 309 Xing, R., 230–231, 235t Xiong, J., 209 Xiong, Y., 179 Xu, C., 403–404 Xu, L., 242, 244–245, 248 Xu, L.D., 233, 235t Xu, R., 432–433 Xu, X., 403–404 Xu, Z., 399–415 Xuan, P., 378 Xue, B., 239–248 Xue, Y., 184 Xuyao, Y., 233, 235t Y Yadav, R., 306–307 Yager, R., 94 Yan, W., 184 Yan, X., 165 Yanakiev, B., 214 Yang, G., 403–404 Yang, K., 231, 235t Yang, L., 210, 212, 216–217, 219t, 220 Yang, M., 94–95 Yang, Q., 209–223 Yang, S., 33–34 Yang, X., 83, 209 Yang, Y., 43, 240–241, 244–245, 403–404, 421 Yang, Z., 209 Yao, B., 230–231, 235t Yao, C., 32–33, 35–36, 38–42 Yao, N., 431–447 Yardley, T., 131–132 Yasar, M., 268, 272–273 Yassine, A., 209 Yau, D.K.Y., 57–58, 252 Yau, N., 93 Ycb, Shi, 243–244 Ye, W., 239 Yeh, M., 152 Yeung, R., 16 Yi, B., 83 Yi, H., 432 Yijin, S., 233, 235t Yildiz, Y., 252 Yin, G.G., 38 Yin, S., 150 Yin, X., 94 Yin, Z., 229, 235t Yoo, S., 402 Yoshimi, J., 154 Younis, M., 43 Yu, G., 43 Yu, H., 42, 94–95 Yu, L., 239 Yu, P.S., 94 Yu, W., 297, 377–395 Yu, Y., 94 Yueyun, C., 227, 235t Yuksel, E., 252 Z Zage, D., 95 Zaharakis, I., 306 Zampieri, S., 21 Zander, J., 299 Zapata, C.P., 424 Zedeck, S., 419–420, 424 Zeng, Y., 299 Zettsu, K., 342 471 472 Author Index Zhandi, E., 15–29 Zhang, F., 431–447 Zhang, H., 180, 225 Zhang, J.-F., 22 Zhang, L., 233, 235t, 297 Zhang, M., 378–379 Zhang, P., 32 Zhang, R., 61 Zhang, S., 242, 245, 247–248 Zhang, W., 244–245 Zhang, Y., 93, 209, 212, 214, 403–404 Zhang, Z., 94–95 Zhao, B., 95, 98 Zhao, B.Y., 94–95 Zhao, D., 435–436 Zhao, H., 227, 235t Zhao, J., 162, 209 Zhao, Z., 95, 98 Zheng, K., 76–80, 79f, 84 Zhong, M., 32 Zhong, Z., 209–210 Zhou, K., 251 Zhou, L., 251 Zhou, X., 61 Zhou, X.W., 227, 235t Zhou, Z., 230–231, 235t Zhu, H., 76–77, 84, 293 Zhu, J., 35 Zhu, Q., Zhu, Y., 432 Zhu, Z., 422 Zhuang, J., 252 Zhuo, F., 432 Ziegler, J., 147–148, 156 Zipay, K.P., 424 Z€ uhlke, D., 330–331 Zuliani, P., 182 Zuo, Y., 233, 235t Zussman, G., 232, 235t Zwilling, F., 195 Subject Index Note: Page numbers followed by f indicate figures, and t indicate tables A “The Aachen Approach”, 322, 323f Access class barring (ACB), 83 Action-oriented communication, 120–121 Action-related communication, 117–119, 121, 123 Adaptive quantization (AQ), 25–27 SNR values, 26–27, 26–27f TDMA transmission, 25, 25f Adaptive transmission length (ATL), 25, 27–28 SNR values, 27–28, 28f TDMA scheme, 27, 28f Address space, 326–327 Ad hoc on-demand distance vector (AODV) protocol, 58 Agriculture cyber-physical systems (ACPSs) applications, 401–403 architecture, 399–401, 400f environmental information gathering, 401–402 field experiment, 411–413 GIS-based, 403 performance analysis, 411–413 plant information gathering, 402 sensor deployment, 403–411 communication considerations, 407 field information discretization, 406 field partition, 406–407, 406f information coverage, 405, 405f, 409–410 optimal solution, for deploying relay nodes, 410–411 problem formulation, 408 UAV-based, 402–403 Aircraft, transformation opportunities, 355–356, 356f Airline IT Trends Survey, 342 Air Navigation Service Provider (ANSP) air traffic management, 353, 354f, 355–356 applications, 339–341 transformation opportunities, 353 Air Route Traffic Control Centers (ARTCCs), 348–349, 348f Air traffic management (ATM), 341–342 aircraft, 355–356, 356f Air Navigation Service Provider, 353, 354f, 355–356 Flight Operations Control, 355–356, 355f Alarm messages EAMs, 84–85 transmission, 84–85 Alberta Electric System Operator, 436, 437f Algebraic graph theory, 17–19 ALOHA-based radio access, 82–83 Amazon, 95 ANSP See Air Navigation Service Provider (ANSP) Anticipation, communication through, 118–119, 121–122 Anti-lock breaking system, 32 Apollo Social Sensing Toolkit, 166 App-orchestration, 156 ARTCCs See Air Route Traffic Control Centers (ARTCCs) Artifacts engineering, 364–366, 370f existing approaches, 366 Association rule learning, 306–307 Asymptotic normality, 97 ATM See Air traffic management (ATM) Attributes characterization, CPS, 342–352 Authentication, 130, 135–136 Automatic dependent surveillance-broadcast (ADS-B), 345–346 Automotive industry, 77 Availability, 130 Aviation CPS attribute-based analysis approach, 343 attributes characterization, 343–346 benefits, 357–358 challenges, 358–360 existing system architecture, 339–341 mission-critical applications, 342–356 characterization, 342–352 transformation opportunities, 353–356 potential directions, 358–360 and problem definition, 341–342 B Backoff adjustment, MTC device, 83 Base stations (BSs), 61 harvest energy from, 58, 60 LTE’s, 56, 77–78 Pico cell base station, 61–64 Bayesian networks (BNs), 312–314 for building HVAC system, 270f learning and inference, 266–267, 270–272 modeling approach, 267 security models, 267 target evidence algorithm, 272, 272t Bayes’ theorem, 96 473 474 Subject Index Behavioral game theory CB game, 254–255 hypothetical power grid attack, 256–257 large-scale protection planning, 251, 253 level-k reasoning calculation, 255–256 instinctual strategy, 253 numerous studies, 254 researchers, 253 related work, 252 security game, 251–252 validation experimental details, 259, 259f experimental results, 259–261 BikeNet, 93 Black-box test-case generation, 299 BNs See Bayesian networks (BNs) Bounded rationality, 121–122 C CarTel, 93 Case-based reasoning (CBR) systems, 156–157 CENELEC safety standards, 364, 365f, 366 CenWits, 93 Checkpoint-based rollback, 311–312 CIs See Critical infrastructures (CIs) Classification-based techniques, 306–307 Client-side authentication, 136 Cloud-based CPS, 330–333 Cloud computing, 342 environments, 349–350 virtualization, 108–109 Cloud-RAN architecture, 86–87 Clustering algorithm, 168, 170–171, 306–307 Code-expanded RA, 84 Collaborative engineering, 365, 365f Collaborative mobile charging, 247 apply, 248 conditions, 248 Min-MCP, 248 PushWait, 247–248 wireless recharging model, 248 Collusion attack, 94–95 Colonel Blotto (CB) game, 251–252, 254–255 Commercial off-the-shell (COTS) RFID readers, 213 Communication action-related communication, 117–118 channels of multiagent systems, 16–17 graphs, 15, 17 link, 15 through anticipation, 118–119 topology, 15 verbal and symbolic communication, 117 Communication Based Train Control (CBTC) systems, 363 Completeness theorem, 288–289 Condition monitoring, in cloud, 330–333 Confidentiality, 130, 136, 139 Conformance relation, 293–296 Conformance testing, 288–289, 296–298 functionality, 299 schematic view, 289f Simulink models, 299 technique, 294 test-case generation, 296–297 test-case selection and coverage, 297–298 Consensus control, 15 algebraic graph theory, 17–19 communication structure of, 24f switching topologies, 20–21 time-invariant topologies, 19–20 Contention-based 3GPP-RACH procedure, 81–82 Continuous state, 35–36, 179 Continuous verification, 365–366 Contract-based design (CBD), 374 Controller area network (CAN), 135 Control mechanism, renewable energy resources, 384–390, 385f, 393–394 Control parameter, 36–37 Control systems, 305, 312 automated access, 131 cooling, 179–180, 179f parameters of, 184 process, 133, 157 Control technology, 15 Control theory, 21–24 CPLEX, calculated allocations, 257, 258t CPPSs See Cyber-physical production systems (CPPSs) Cramer-Rao lower bound (CRLB), 97 Critical infrastructures (CIs), 305 Cross-cutting aspects, healthcare, manufacturing, smart cities, smart grids, 8–9 transportation, Cross-domain analysis, 10–12 Cross-layer design resource allocation adaptive quantization, 25–27 adaptive transmission length, 27–28 communication structure, 24f Cross-site request forgery, 136 Cryptography, 309 Cry wolf effect, 152–153 Subject Index Cyber-physical cloud computing (CPCC), 342 Cyber-physical devices (CPDs), 305 category, 306 implementation, 309 Cyber-physical energy system (CPES), 431 micro-grid, 432–434, 433f electric loads, 434–436 feasibility analysis, 431–432 independent operation, 434 infrastructure of, 433 on-site generation and battery bank, 436–437 Cyber-physical production systems (CPPSs), 321–324 change human-machine cooperation, 145–146 cloud-based approach, 330–333 digitalization strategy, 321 human-robot interaction, 327–330 information modeling in, 325–327 OPC UA, 324–325 requirements, 324 Smart Automation Lab, 333–336 use cases and application, 327–336 Cyber-physical systems (CPSs), 31, 56–57 See also Social networks actuation, 104 advances, 75 agriculture (see Agriculture cyber-physical systems (ACPSs)) application behavior, 105 aviation (see Aviation CPS) challenge of, 115 characterization cross-cutting aspects, level of automation, life-cycle integration, technical emphasis, through market analysis, complex systems, 175 computation, 105 computing continuum, 106f control and optimization framework, 33–36, 34f cross-domain analysis, recommendations, 10–12 data harvesting problem in, 43–51 definition, 133 design, case study, 363–375 distributed, 269–272, 277–280 energy-based, 377 formal models, 175, 179–181 5G MTC in, 76–77 green (see Green cyber-physical systems) in healthcare, 7–8 and human actors, 116 human-centered adaptation options, 422–423 incorporating aggregate effects, 175–179 interconnectedness, 133 475 large-scale protection, 251 in manufacturing, MBT (see Model-based testing (MBT)) PGM, 269–280 physical attacks, 129 programming language, 104–107, 110 railway signaling system, 363–364 designs, 366–374 engineering artifacts, 364–366 functional architecture, 371f product breakdown structure, 370–371, 371f system definition, 367–369 system design and implementation, 372–374 system requirements and architecture, 369–372 real-time scheduling, 431 registries and resource integration, 109 reliability, 91 RFID localization system, 209 Scaffold, 109–110 scalability issues, 105–107 SDF scheme, 272–277 security in (see Security and privacy) SMA (see Significant moments analysis (SMA)) and smart cities, 9–10 smart factories, 193–195 and smart grids, 8–9 social embedding, 115–116 social sensing, 91 background and motivation, 91–93 data reliability, 95–98 state-of-the-art, 93–95 in transportation, users and, 420–422 validation, 184–187 verification, 182–184 WASA (see Wide-area situational awareness (WASA)) WRSN (see Wireless rechargeable sensor network (WRSN)) CyPhERS project, 3–4 D Data collection, 138–139 filtering of, 151 fusion literature, 172 reliability, 95–98 Data harvesting problem agent trajectory parameterization, 46–51 hybrid system events, 47t objective function gradient, 48–49 objective function optimization, 49–51 optimization, 46–51 problem formulation, 43–46 476 Subject Index Data harvesting problem (Continued) in Smart Cities, 43 Data mining-based techniques, 306 Data mules, 43 Decision time horizon, 343 Defense-in-breadth, 138 Defense-in-depth, 138 Dempster-Shafer theory, 94 Detection, 131 event, social networks discriminative keyword pairs, 166 information gain, 166 instagram, 170–171 information and spectral theory-based, 306–307 knowledge-based, 306–307, 314 statistical-based, 306–307 wide-area situational awareness, 306–309 Deterrence, 131, 135 Digital signatures, 130–131 Direct RF energy harvesting AODV protocol, 58 in heterogenous networks, 60–64 landmark limit, 65, 65f MAPIT, 58–60 number of missions, 65, 66f numeric results for, 64–66 RFID tags, 57–58 Discovery Channel, 401 Discrete event system (DES), 32 Distributed agency, 124–125 Distributed control adaptive quantization, 25–27 adaptive transmission length, 27–28 communication structure, 24f Distributed energy resources, 383 geographic diversity, 384 technology diversity, 384 Distributive justice, 424 Dynamic power balance strategy (DPBS), 227 E EAMs See Emergency alarm messages (EAMs) eBay, 95 Edge, virtualization on, 108–109 ekoNET, 233–234 Electric loads evolution, 440–441 micro-grid, 434–436 nondeferrable, 434, 438–439 state vector, 438 Embedded systems, 4, 133 Emergency alarm messages (EAMs), 84–85 EAM-RACH procedure, 84–85, 85–86f hash table HT, 85 PRACH periodicity, 84 preamble sequence, 84 two-message handshake, 84–85 Encryption, 130–131 End-to-end security, 139 Energy-based CPS, 377 Energy conservation, 55 Energy efficiency machine-to-machine and smart city, 228–229 management, 226–228 protocol, 229–231 schedule, 231 Energy harvesting from ambient electromagnetic waves, 56 battery life, extending, 55 direct (see Direct RF energy harvesting) low-power sensors, 57 relayed (see Relayed RF energy harvesting) Energy-saving and emissionreduction (ESER) policy, 233 Energy self-sustainability, 231 Energy storage, renewable energy resources and, 391–392 Energy-transmitting towers (ETTs), 61 METTMAP, 64 MIPMAP, 62–64 Engineering artifacts, 370f methodology for, 364–366 system definition, 367–369 system design and implementation, 372–374 system requirements and architecture, 369–372 Enhanced Channel-aware Routing Protocol (ECARP), 230–231 Environmental information gathering, ACPSs, 401–402 Event detection, social networks discriminative keyword pairs, 166 information gain, 166 instagram, 170–171 Event-driven dynamics, 31–32 Evolved NodeBs (eNBs), 77–78 Exhaustiveness, test-case generation, 288–289, 296 Expectation maximization (EM) problem, 96 F FAA Telecommunications Infrastructure (FTI), 341 landline networks, 346 latency limits, 346–347, 348t reliability, maintainability, and availability, 346, 347t Failure mode and effect analysis (FMEA), 370 False-positive rate (FPR), 307–309 Feasibility analysis, 442–443 Subject Index deficiency in power supply, 443 for micro-grids, 431–432 necessary and sufficient, 442–443 Federal Aviation Administration (FAA), 341 Federation technique, 366 Fiedler eigenvalue, 18 Field information discretization, 406 Field partition, 406–407, 406f Finite state machines (FSMs), 290–291 dynamic power balance strategy, 227 thermostat example, 291f, 297, 297f Flight Operations Control (FOC), 339–341 air traffic management, 355–356, 355f operator’s function, 356–357 transformation opportunities, 354–355 Fog Computing, 107–109 Formal models, 175 information theory, 180–181 multiagent representation, 181 state-based modeling, 179–180 Frequency domain phase difference of arrival (FD-PDOA), 214–215, 217 Frequency-separated deployment, 80 Fusion-based techniques, 312 G Gaussian-based models, 307 Gaussian channel, 22 Geographic diversity distributed energy resources, 383 renewable energy resources, 392 Geographic information systems (GISs), 403 Global structuring notation (GSN), 374 GPRS tunneling protocol (GTP) reduction, 80 Green cyber-physical systems energy efficiency machine-to-machine and smart city, 228–229 management, 226–228 protocol, 229–231 schedule, 231 environmental issues, 233–234 role of, 225 self sustainability, 231–233 Green-RPL, 230 GridLAB-D/GridMat simulation tools, 378, 380, 394 control mechanism, 384 objects, 390 H Hamming distance, 154–155 HashTag, 168 477 Healthcare, CPS in, 7–8 HeNB-GW, 80 Heterogenous networks (HetNets) direct RF energy harvesting in, 60–64 METTMAP, 62, 64 MIPMAP, 62–64 wireless energy transfer in, 61f Hidden Markov models (HMMs), 267, 314 Histogram-based techniques, 307 Human-centered perspective, 419–420 adaptation options, 422–423 head analysis, 422 machine-fairness, 423–424 multimodal analysis, 422 system development, implications for, 425–426 task-related feature analysis, 421 user model, 420–422 vital parameter analysis, 421 voice analysis, 421 Human decision makers characteristics, 146 complexity complex problem solving, 147 design feedback strategies, 153 high-level constraints representation, 147–148 integrate current system states, with past and future, 150, 151–152f interfaces, 147 low-level features, providing access, 148–150 progressions and cause-effect relationships, 146–147 relevance of information, determine and display, 150–153 flexibility contextualize information presentation, 154–155 information presentation, switching between different forms, 155–156 interface design, 153–154 prospective memory with external aids, 155 resource-efficient production, 153–154 tasks, 156–157 human-machine cooperation, 145, 146f Human-in-the-loop cyber-physical systems (HiLCPSs), 93–94 Human-machine interaction, 420, 425–426 Human-robot interaction, 327–330 Humans as sensors See Social sensing Human-technology communication action-related, 117–118 CPS and, 116 distributed agency, 124–125 extensions and limits, 122–124 implicit knowledge in action-oriented communication, 120–121 478 Subject Index Human-technology communication (Continued) anticipation, 121–122 hard understanding, 119 in verbal-symbolic communication, 119–120 through anticipation, 118–119 verbal and symbolic, 117 Human-to-human (H2H) networks, 230 Human-type communications (HTC), 77, 80, 83 Hybrid solar-rectenna, 232 Hybrid system (HS) model, 31 automaton, 35, 35f control and optimization framework, 33–36, 34f I IDSs See Intrusion detection systems (IDSs) Implicit knowledge in action-oriented communication, 120–121 anticipation, 121–122 hard understanding, 119 in verbal-symbolic communication, 119–120 Industrial alarm messages transmission, 84–85 Industrial Control Systems Cyber Emergency Response Team, 305 Industrial Internet, 133 Industrial revolution, 321 Industry 4.0, 193, 321, 325 “The Aachen Approach”, 322, 323f applications of, 327, 333–334 cloud technology and, 331–332 facets of, 331 guiding principles of, 330–331 Infinitesimal perturbation analysis (IPA) calculus, 32–33, 35–40 properties, 41–43 robustness, 41 scalability, 42 state trajectory decomposition, 42 time-driven and event-driven dynamics, 37 unbiasedness, 41 Informational justice, 424 Information and communication technology (ICT), 321, 324 Information and spectral theory-based detection, 306–307 Information coverage, 405, 405f, 409–410 Information gathering systems, ACPSs environmental, 401–402 plant, 402 Information model, CPPSs, 325–327 Information point, 406 Information q-coverage, 405, 408, 410 Information security, 130–131 Information theory, 21–24 In-season estimated yield (INSEY), 402 Instagram, 170–171 Integrity, 130 Intel Edison platform, 111 Intelligent topology analyzers, 147–148 Interactive tutoring feedback (ITF) framework, 153 Internet of Things (IoT), 5, 325 Interpersonal justice, 424 Intrusion detection systems (IDSs), 307–309 Intrusion response systems (IRSs) HMMs in, 314 WASA, 309–311, 310t, 315t IPA See Infinitesimal perturbation analysis (IPA) IT globalization and automation, 322 K Kazan Watershed, 403 Key performance indicators (KPI), 194 Key technology, 234 Knowledge-based assistance systems, 156–157 Knowledge-based detection, 306–307, 314 L Labeled transition systems (LTSs), 290–291 LANDMARC system, 219 Laplacian matrix, 18–19 Large-scale fading, 16–17 Level of automation, healthcare, manufacturing, smart cities, 9–10 smart grids, Life-cycle integration, healthcare, 7–8 manufacturing, smart cities, 10 smart grids, transportation, Likelihood alarms, 152–153 Linear quadratic Gaussian (LQG) setting, 33–34 Linear temporal logic (LTL), 292 Lipschitz continuous, 41 Log-based rollback, 311–312 Logging, 138–139 Logical models, 291–292 Logistics, MTC applications, 77 London Air Quality Network, 103 Long-term evolution-advanced (LTE-A), 231 cellular systems, 77–79, 79f LTSs See Labeled transition systems (LTSs) Subject Index M MABA-MABA models, 124 Machine learning, 171–172, 306 Machine-to-machine (M2M) communications, 75 in industrial environments, 75–76 and smart city, 228–229 Machine-type communications (MTC), 76 closed access, 80 coverage extension, 80 design, 86 flexible network architecture, 87 5G MTC, 76–77 and human-type traffic, 80 idle mode, 77 intra- and inter-cell interference, 80 macro-cell deployments, 77–79 network architecture, 79f RA procedure 3GPP RA, 81–83 state of art on, 83–84 small cell-based scalable network architecture, 79–80 stream control transmission protocol, 80 traffic characteristics and requirements, 77 features and challenges, 78t latency, 81f performance, 86–87 Macro-cell deployments, 77–79 Macro-cell eNBs (MeNBs), 78–79 Macroprogramming See Network-wide programming Makespan, 204 Manufacturing, CPS in, cross-cutting aspects, level of automation, life-cycle integration, technical emphasis, MAPIT See Mission-aware placement of wireless power transmitters (MAPIT) Markov models, 307 Matlab toolbox RRT-REX, 299 Maximally bijective discretization (MBD), 269 Maximum likelihood estimation (MLE), in social sensing, 95–98 MBT See Model-based testing (MBT) Message ferries, 43 Message logging protocol, 311–312 Meta-communication, 120 Metric temporal logic (MTL), 292 Micro-grid, 432–434, 433f batteries in, modes of operation, 441 benefits, 432–433 electric loads, 434–436 479 feasibility analysis, 431–432 independent operation, 434 infrastructure of, 433 on-site generation and battery bank, 436–437 Minimize ETT-maximize harvested power (METTMAP), 62, 64 Minimize PBS-maximize harvested power (MIPMAP), 62–64 Minimum mobile chargers (Min-MCP), 248 Mission-aware placement of wireless power transmitters (MAPIT), 58–60 Mobile charging vehicles (WCVs) charging model for, 242 charging schemes, in WRSN, 243–245 collaborative charging mechanism, 244–245 deterministic methods, 243, 244f multiple- collaborative, 247–248 nondeterministic methods, 243–244 performance evaluation, 245 periodic charging method, 244 for stochastic event capture, 245–247 for charging task, 243 in WRSN, 240 Model-based systems engineering (MBSE), 289 Model-based testing (MBT), 287–289 application of, 289 challenges, 287, 300–301 conformance relation, 293–296 conformance testing, 296–298 test-case generation, 296–297 test-case selection and coverage, 297–298 logical models, 291–292 running example, 290 state-based models, 292–293 state-machine-based models, 290–291 tools, 298–299, 299t verification tool, 299 MQCSP, 247 MTC See Machine-type communications (MTC) MTL See Metric temporal logic (MTL) Multiagent systems, 15–16, 16f, 32 communication channel, 16–17 types of, 17f Multipath profile-based RFID localization system, 217–219 Multiple-WCV collaborative charging schemes, 247–248 N National Airspace System (NAS), 339–341, 345 architecture, 340f FAA, 346 National Renewable Energy Laboratory (NREL), 279 Networking embedded CPS, 115 480 Subject Index Network issues, virtualization on, 108–109 Network-wide programming, 107–108 Scaffold, 109–110 Neutralize, 131 Nondeferrable electric loads, 434, 438–439 Nonrepudiation, 130 Normalized Difference Vegetation Index (NDVI), 402 Numeric simulation feasibility verification, 444–445 setup, 443–444 O Objective function gradient, 48–49 optimization, 49–51 Observation matrix, 96 Omni-directional RF energy transfer, 58 OPC Unified Architecture (OPC UA) advantage, 324–325, 333 application, 327 information model, 326–327 server aggregation, 326–327, 327f Operating system-level virtualization, 108 Optimized medium access control (MAC), 83 Oracle problem, 287 Organizational justice concepts, 424 principles of, 419–420, 425 P Pacific Northwest Laboratory (PNNL), 380 Pallet model (PALM), 335 Path-loss, 16–17 Pattern obfuscation, 139 Pattern recognition, 420 Periodic charging method, 244 Phase-based RFID localization system baseband signal, 213 FD-PDOA, 214–215 hologram, 216–217 information, 213 phase offset, 213–214 SD-PDOA, 215–216 TD-PDOA, 214 Physical coverage, concept of, 404 Physical (PHY) layer resource, 24–25 Physical Random Access Channel (PRACH), 81–82 Physical security, 131–133, 132f Physical systems, Physical Uplink Shared Channel (PUSCH), 81–82 Pico cell base station (PBS), 61–64 PinIt, 221 Plant information gathering, ACPSs, 402 Platform-Screen Doors (PSD), 367 PLM See Product life cycle management (PLM) PLR See Process level redundancy (PLR) Power beacons (PBs), 61 “Powermat #”, 240 Precision agriculture, 399–401 Prim’s minimum spanning tree algorithm, 411 Priority-aware RF energy harvesting, 58 Privacy, security and See Security and privacy Probabilistic graphical models (PGMs) applications, 265–269 Bayesian network for building HVAC system, 270f learning and inference, 266–267, 270–272 modeling approach, 267 security models, 267 target evidence algorithm, 272, 272t SDF data discretization, 269 extracting useful features, 268–269, 268f geographical location, 279, 279f hierarchical learning, 274–276 inference, 273–274 Markov models, 267–268 mutual information, 279, 280–281f phase-space plot of, 273f spatiotemporal predictive modeling, 277–280 system health characteristics, 272 Procedural justice, 424 Process level redundancy (PLR), 311–312 Process Simulate of Siemens Tecnomatix, 330 ProCLOUD, 332–333 Product breakdown structure (PBS), 370–371, 371f Product life cycle management (PLM), 321, 322f, 328 Product model instances (PMIs), 335 Prospective memory, 155 Protocol adaptive transmission length, 27 AQ protocol, 26t communication system, 22 Laplacian matrix, 20 MAC layer, 25 multiagent network with, 20 Q Quality-of-information (QoI), 227 Quality of monitoring (QoM) for stochastic event capture, 246 wireless recharging model based, 246f Subject Index R RACH dynamic allocation of, 83 EAM-RACH, 84–85, 85–86f 3GPP-RACH procedure, 82f, 83–84 Radio access network (RAN), 76 Radio frequency (RF) energy harvesting, 56–57 Radio-frequency identification (RFID) localization system, 58 accuracy and complexity, 222 deployment, 221–222 portability, 222–223 aforementioned advantages, 210 architecture, 210f characteristics, 210 CPS, 209 different working modes, 211–212, 211f goal of range-based approaches, 209–210 LANDMARC, 219 multipath profile-based, 217–219 phase-based baseband signal, 213 FD-PDOA, 214–215 hologram, 216–217 information, 213 phase offset, 213–214 SD-PDOA, 215–216 TD-PDOA, 214 PinIt, 221 principle, 210 RSS-based, 212–213 signal processing, 210 Tagoram, 220–221 tags, 209 Railway signaling system, 363–364 designing CPS, 366–374 engineering artifacts, 364–366 functional architecture, 371f product breakdown structure, 370–371, 371f system definition, 367–369 system design and implementation, 372–374 system requirements and architecture, 369–372 Random access (RA) procedure, for MTC EAMs, 84–85 3GPP RA, 81–83 state of art on, 83–84 Rapidly-exploring random trees (RRT), 297, 299 Real-time energy management, 431–432 power demand under, 444–445, 445f, 447f significant moments analysis, 439–440 Real-time operating system (RTOS), 431–432 Real-time scheduling, 431 Rechargeable batteries, 55 Registries, 109 Relayed RF energy harvesting, 66–68 energy harvester node, 68, 68f, 72 energy relay node, 68, 68f energy source node, 68, 68f energy-transmitting towers’ efficiency, 67f minute-by-minute time resolution, 69, 70–71f, 71–72 numeric results for, 69–72 packet size simulation, 71–72, 71t QualNet, 68, 68t simulations, 69, 69t Remote terminal units (RTUs), 305–306 Renewable energy resources, smart grid, 377–379 control mechanism, 385–390, 385f, 393–394 and energy storage, 391–392 existing efforts on, 378 overview, 379–380 performance evaluation, 390–394 scenarios, 383–385 simulation model, 380–383, 381–382f technology/geographic diversity, 392 Replication-based techniques, 311 Resource integration, 109 Response, 131 R-MQCSP, 247 RoboCup Logistics League (RCLL), 194 autonomous mobile robots, 193 complex production steps and delivery, 198 evaluation in 2014 adherence, to delivery schedule, 201, 201f Carologistics and BavarianBendingUnits, 199f 2D histogram, 201, 202f machines state over, 200–201, 200f exploration phase, 196 fleet-level performance, 198 high complexity product, steps, 196f intra-logistics, 193 key performance indicators application of, 204–205 in logistics, 203–204 modular production system, 195 production phase, 196 refbox, 195 ring station, robot approaching, 197f robot benchmark features, 197–198 requirements outline, 198 system-level performance, 198 testbed and scenarios, 199 teams carologistics and solidus, 196f transferring holistic benchmarks, 205 481 482 Subject Index Robust header compression (ROHC), 86 Rollback, 311–312 Rolling-Stock Doors (RSD), 367 Root-cause potential (RCP), 271–272 RSS-based RFID localization system, 212–213 RTT algorithm, 297–298 RTUs See Remote terminal units (RTUs) S Scaffold application, 111–112 architecture, 110f backend, 111 case study, 110–112 sensors, 111 system-level program, 110 Scale compiler, 110 Scheduling dilemma of logistics, 203–204 SDLC See System development life cycle (SDLC) Security and privacy in CPSs, 133, 134f cyber security, 131–133, 132f dam, protecting, 134–135 defense-in-breadth, 138 defense-in-depth, 138 definition, 130 end-to-end security, 139 information security, 130–131 pattern obfuscation, 139 physical protection, 131 physical security, 131–133, 132f segmentation, 137–138 smart car hacking, 135 smart home hacking, 136 tamper detection/security, 139 user-configurable data collection/logging, 138–139 wearable devices, 136 Security policies, 309 Segmentation, 137–138 Sensor deployment, ACPSs, 403–411 communication considerations, 407 field information discretization, 406 field partition, 406–407, 406f information coverage, 405, 405f, 409–410 optimal solution, for deploying relay nodes, 410–411 problem formulation, 408 Sensor networks challenge, 92 underwater wireless, 230–231 wireless, 59–60 WRSN (see Wireless rechargeable sensor network (WRSN)) Sensors, Scaffold, 111 Service delivery point (SDP), 346–347 Service Oriented Architecture (SOA), 341 Serving Gateway (S-GW), 77–78, 80 SHA See System hazard analysis (SHA) Shannon’s channel capacity, 22 Shannon’s equation, 180 Signal temporal logic (STL), 292, 297–299 Significant moments analysis (SMA), 432, 437–442 battery state of charge evolution, 441–442 components, 437–438 electric loads evolution, 440–441 nondeferrable, 434, 438–439 state vector, 438 feasibility analysis, 442–443 real-time energy management, 439–440 Simulation models, 380–383, 381–382f Simulink models, 299 Situational awareness (SA), 305 See also Wide-area situational awareness (WASA) Slotted access, MTC device, 84 SMA See Significant moments analysis (SMA) Small and medium-sized enterprises (SMEs), 328 Small cell-based scalable network architecture, 79–80 Smallest enclosing disk (SED), 244 Small-scale fading, 16–17 Smart Automation Lab, 333–336 Smart car hacking, 135 Smart city CPS in, 9–10 MTC applications, 77 Smart factory (SF) autonomous mobile robot, 194–195 benchmark for logistic robots, 199–202 context-aware production, 194–195 fleet-level performance, 198 typical approaches, 194–195 Smart grids CPS in, 8–9 industry, MTC applications, 77 renewable energy resources (see Renewable energy resources, smart grid) Smart home hacking, 136 SNR values, 26–27, 26–27f Social networks event detection discriminative keyword pairs, 166 information gain, 166 instagram, 170–171 event localization, 167–168 event tracking Subject Index accuracy comparison, 168 instagram, 170–171 Nepal earthquake, 169 physical target tracking, 168 physical sensors, 161–162 problem formulation, 164, 165f public data uploaded, 162 signal feature space, 164–166 traffic sensors, 161–162 twitter story data association problem, 163–164 event tracking, 162–163 media users, 164 modality and analogy, with physical sensing, 163f observed trajectory, 162–163 physical response, 163 veracity analysis, 171–172 Social sensing, 91 background and motivation, 91–93 belief theory, 94 BikeNet, 93 CarTel, 93 CenWits, 93 collusion attack, 94–95 data reliability, 92–98 reputation system, 93 state-of-the-art, 93–95 sybil attack, 94–95 Socio-technical systems, 6, 124 Soundness, test-case generation, 288–289, 296 Space domain phase difference of arrival (SD-PDOA), 215–216 SPIT model, 6, 6f S-TaLiRo tool, 299 State-based models, 179–180, 292–293 State-machine-based models, 290–291 State vector, electric loads, 438 Statistical-based detection, 306–307 Stochastic flow models (SFMs), 42 Stochastic hybrid system (SHS), 33–34 Stream control transmission protocol (SCTP), 80 Support vector machines (SVMs), 312–314 SWIM See System Wide Information Management (SWIM) Switching topologies, consensus with, 20–21 Sybil attack, 94–95 Symbolic dynamic filtering (SDF), 265–266 data discretization, 269 extracting useful features, 268–269, 268f geographical location, 279, 279f hierarchical learning, 274–276 inference, 273–274 Markov models, 267–268 mutual information, 279, 280–281f 483 phase-space plot of, 273f spatiotemporal predictive modeling, 277–280 system health characteristics, 272 Symbolic execution, 184 System architecture, aviation CPS, 339–341 System definition, 364 railway signaling system, 367–369 System design and implementation, 364, 372–374 cyber side, 373–374, 374f physical side, 372–373, 372–373f System development life cycle (SDLC), 287 V-model, 288f, 289, 300–301 System hazard analysis (SHA), 370, 372 System requirements, and architecture, 364, 369–372 Systems Modeling Language (SysML), 289 Systems of systems (SoSs), System Wide Information Management (SWIM), 341 T Tacit knowledge See Implicit knowledge Tagoram, 220–221 Tamper detection, 139 TDMA transmission, 25, 25f Technical emphasis, healthcare, manufacturing, smart cities, 9–10 smart grids, transportation, Technology diversity distributed energy resources, 383 renewable energy resources, 392 Temporal logics, 291–292 formula, 180 linear, 292 metric, 292 satisfaction degree, 296 signal, 292, 297–299 verification of, 299 Test assumption, 294 Test-case generation, 296–297 Test coverage measure, 297–298 Third Generation Partnership Project (3GPP), 76 random access, 81–83 legacy procedure, 82f limitations, 82–83 Throughput time (TTP), 203–204 Time division duplexing (TDD) system, 80 Time division multiple access (TDMA) schemes, 24 Time domain phase difference of arrival (TD-PDOA), 214 Time-driven dynamics, 31 484 Subject Index Time-invariant topologies, consensus with, 19–20 Traffic flow management (TFM), 343 Transportation, CPS in, TruthFinder, 94 Twitter story data association problem, 163–164 event tracking, 162–163 media users, 164 modality and analogy, with physical sensing, 163f observed trajectory, 162–163 physical response, 163 Two point boundary value problem (TPBVP), 46, 50f, 51 U UDP/IP connections reduction, 80 Underwater wireless sensor networks (UWSN), 230–231 Universal Soil Loss Equation (USLE), 403 Unmanned aerial vehicles (UAVs), 181, 402–403 User-configurable data collection/logging, 138–139 User equipment (UE) device, 60 User model, CPSs, 420–422 head analysis, 422 multimodal analysis, 422 task-related feature analysis, 421 vital parameter analysis, 421 voice analysis, 421 V Validation, 175 behavioral game theory experimental details, 259, 259f experimental results, 259–261 controller synthesis, 186–187 experimental, 184–185 hardware emulation, 185–186 V ehicule Automatique L eger (VAL) systems, 363 Verbal-symbolic communication, 117, 119–120 Verification, 175 continuous, 365–366 feasibility, 444–445 model checking, 182 simulations, 184 symbolic execution, 184 temporal logics, 299 theorem proving, 183 VHF data link (VDL), 350, 353t Virtual resource allocation, 83 V-model, 288–289, 288f, 300–301 W Wearable devices, 136 White-box test generation, 299 Wide-area situational awareness (WASA), 305–306 concept of, 315 detection, 306–309 guidelines for, 312–315 prevention techniques, 306–309, 308t, 315t response mechanisms, 309–311, 310t, 315t restoration techniques, 311–312, 313t, 315t Wireless rechargeable sensor network (WRSN), 59–60 applications, 239–240 charging model for charging task, 243 energy flow, 240 sensor nodes, 241–242 for WCVs, 242 charging schemes collaborative charging mechanism, 244–245 deterministic methods, 243, 244f multiple-WCV collaborative, 247–248 nondeterministic methods, 243–244 performance evaluation, 245 periodic charging method, 244 for stochastic event capture, 245–247 paradigm of, 241f Wireless Sensor and Actuator Networks (WSAN), 402 Wireless sensor networks (WSNs), 239 agriculture cyber-physical systems, 401, 412–413 industrial, 306 macroprogramming frameworks, 107 MAPIT, 59–60 Worst-case quantization error, 22 X xD-Markov machine, 269, 277–280 ... Design techniques and applications of cyberphysical systems: a survey IEEE Syst J (2), 350–365 Lee, E.A., Seshia, S.A., 2015 Introduction to Embedded Systems, A Cyber- Physical Systems Approach,... Cyber- Physical Systems: Foundations, Principles, and Applications, aims to present the scientific foundations and engineering principles needed to realize CPS, and various CPS applications Towards... Framework for cyber- physical systems Draft, Release 0.8, September 2015, Cyber Physical Systems Public Working Group, an open public forum established by the National Institute of Standards and Technology