{"title":"Scalable Path and Time Coordination for Robot Formation","authors":"H. Chwa, Andrii Shyshkalov, Kilho Lee, I. Shin","doi":"10.1109/CPSNA.2014.23","DOIUrl":"https://doi.org/10.1109/CPSNA.2014.23","url":null,"abstract":"In this paper, we consider several CPS challenges (e.g., responsiveness, scalability, adaptability) in multi-robot formation. In general, the response time of multi-robot formation task involves two parts: the computation time for path and time coordination to avoid any collision among robots and the actuation time for the control of the robots to actually move to their destinations. In terms of responsiveness, a shorter response time provides a higher quality of responsiveness. However, it is complicated to reduce the response time since reducing computation time and reducing robot actuation time are conflicting objectives, and such a trade-off varies over environment. We present a scalable optimization framework that explores such a trade-off dynamically and exploits it in a feedback manner to find efficient trajectory schedules. Our simulation results show that our framework successfully finds a shorter response time by adapting to various environments compared to a commercial optimization tool, and it is scalable for a large number of robots.","PeriodicalId":254175,"journal":{"name":"2014 IEEE International Conference on Cyber-Physical Systems, Networks, and Applications","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131997210","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"An Intelligent Hearing Aid System Based on Real-Time Signal Processing","authors":"Yao Chen, Yangjie Wei, Nan Guan, Yi Wang","doi":"10.1109/CPSNA.2014.18","DOIUrl":"https://doi.org/10.1109/CPSNA.2014.18","url":null,"abstract":"A hearing aid, worn in or around a wearer's ear, is an electroacoustic device to block noise and enhance target sound signal for the wearer. However, there is no method in traditional hearing aids that can automatically separate noise from a received signal mixture. Especially when the backing round is complex, amplified sound by a traditional hearing aid is still a multi-source mixture, and its wearer could not extract the target sound as expected. In this paper, a smart hearing aid system is proposed, consisting of an acoustic property modeling module, an acoustic source separation module and a target source recognition module. The proposed solution can automatically separate an acoustic source and thus enhance the target speaker's sound and filter the other sounds. Experiments with three sources has been conducted and the results show the feasibility and validity of our intelligent hearing aid.","PeriodicalId":254175,"journal":{"name":"2014 IEEE International Conference on Cyber-Physical Systems, Networks, and Applications","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131845130","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Towards Assurance Cases for Resilient Control Systems","authors":"James Weimer, O. Sokolsky, N. Bezzo, Insup Lee","doi":"10.1109/CPSNA.2014.19","DOIUrl":"https://doi.org/10.1109/CPSNA.2014.19","url":null,"abstract":"The paper studies the problem of constructing assurance cases for embedded control systems developed using a model-based approach. Assurance cases aim to provide a convincing argument that the system delivers certain guarantees, based on the evidence obtained during the design and evaluation of the system. We suggest an argument strategy centered around properties of models used in the development and properties of tools that manipulate these models. The paper presents the case study of a resilient speed estimator for an autonomous ground vehicle and takes the reader through a detailed assurance case arguing that the estimator computes speed estimates with bounded error.","PeriodicalId":254175,"journal":{"name":"2014 IEEE International Conference on Cyber-Physical Systems, Networks, and Applications","volume":"28 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115635291","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Service Recovery for Large Scale Distributed Publish and Subscription Services for Cyber-Physical Systems and Disaster Management","authors":"C. Shih, Hsin-Yi Chen, Zi-You Yeh","doi":"10.1109/CPSNA.2014.27","DOIUrl":"https://doi.org/10.1109/CPSNA.2014.27","url":null,"abstract":"Information and communication technology (ICT) played a critical role in disaster management in last few decades. One example is the messaging service for disaster alerts, rescue workers, and victims. Many of these messaging services are developing based on existing messaging services and in ad hoc manner to meet the communication requirements in different disaster scenario. However, most, if not all, existing messaging services are designed under the assumption that the underlying network infrastructures are mostly reliable. Unfortunately, this assumption is not valid during and after disasters. In this work, we designed and implemented a service recovery framework, including a landmark-based/centralized algorithm and a distributed algorithm, for publish/subscribe messaging services for disaster management. The developed mechanisms recover a failed service without manual efforts. The centralized algorithm uses a landmark node to monitor the services and to recover the failed one, the distributed algorithm is a Paxos-based algorithm to compile a consistent recovery plan among nodes, monitoring the failed service. We evaluated the performance for these two mechanisms, and discussed the proper use scenario for these two mechanisms. The results show that the centralized algorithm should only be used in a service network having no concurrent failure within a local area network, the distributed algorithm are neither sensitive to concurrent failures nor the size of service networks.","PeriodicalId":254175,"journal":{"name":"2014 IEEE International Conference on Cyber-Physical Systems, Networks, and Applications","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124906407","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Towards Independent In-Cloud Evolution of Cyber-Physical Systems","authors":"Amirhosein Taherkordi, F. Eliassen","doi":"10.1109/CPSNA.2014.12","DOIUrl":"https://doi.org/10.1109/CPSNA.2014.12","url":null,"abstract":"The capabilities of Cyber-Physical Systems (CPSs) are increasingly being extended towards new composite services deployed across a range of smart sensing and controlling devices. These services enable the emergence of multiple end-to-end cyber-physical scenarios, formed dynamically based on their demands, e.g., disaster recovery systems. In such scenarios, each cyber-physical flow may be composed of a large number of physical services with composition challenges such as high dynamism of CPS platforms, rapid development and scalability, and real-time and reliable processing and controlling tasks. Cloud computing enables new perspectives in the design and operation of CPSs, including consolidating and sharing physical services among different applications, auto-scaling computing and communication, and designing and maintaining multiple in-Cloud CPSs dynamically at the same time. In this paper, we present a new architectural approach to address the key concerns of a new generation of CPS services whose functionalities reside in-Cloud (cyber), and on devices and systems (physical). In particular, this design space is focused on principles that allow in-Cloud evolution of CPS services, including dynamic in-Cloud service composition and distribution, virtualization of physical services and devices, and the dynamic creation of CPS ecosystems. In this design model, the in-Cloud cyber part may evolve independently, while the on-device cyber and physical platform still work closely together and provide the basic CPS services.","PeriodicalId":254175,"journal":{"name":"2014 IEEE International Conference on Cyber-Physical Systems, Networks, and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128926333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Kizheppatt Vipin, Shanker Shreejith, Suhaib A. Fahmy, A. Easwaran
{"title":"Mapping Time-Critical Safety-Critical Cyber Physical Systems to Hybrid FPGAs","authors":"Kizheppatt Vipin, Shanker Shreejith, Suhaib A. Fahmy, A. Easwaran","doi":"10.1109/CPSNA.2014.14","DOIUrl":"https://doi.org/10.1109/CPSNA.2014.14","url":null,"abstract":"Cyber Physical Systems (CPSs), such as those found in modern vehicles, include a number of important time and safety-critical functions. Traditionally, applications are mapped to several dedicated electronic control units (ECUs), and hence, as new functions are added, compute weight and cost increase considerably.%ECU consolidation, where multiple functions are combined on fewer ECUs is an important area, but traditional software ECUs fail to offer the required performance, parallelism, and isolation to support this. With increasing computational and communication demands, traditional software ECUs fail to offer the required performance to provide determinism and predictability, while multi-core approaches fail to provide sufficient isolation between tasks. Hybrid FPGAs, combining a processor and reconfigurable fabric on a single die, allow for parallel hardware implementation of complex sensor processing tightly coupled with the flexibility of software on a processor. We demonstrate the advantages of such architectures in consolidating distributed processing with predictability, determinism and isolation, enabling ECU consolidation and bandwidth reduction.","PeriodicalId":254175,"journal":{"name":"2014 IEEE International Conference on Cyber-Physical Systems, Networks, and Applications","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116787731","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}