A 21st Century Cyber-Physical Systems Education (2016) / Chapter Skim
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3 Paths to CPS Knowledge
3 Paths to CPS Knowledge
Pages 34-59
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From page 34... ...
level, it does not seem feasible to simply defer all CPS education to the master's level. Ultimately, the mix of programs offered by universities will reflect the perspectives of individual institutions, their resources, and the demand universities see from students and their employers, and in turn affect the educational backgrounds of the CPS workforce.
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From page 35... ...
This chapter explores the following approaches to CPS knowledge: • Exposure to CPS in K-12, • Vocational and community college programs, • CPS discussions in introductory engineering and computer science courses, • One or more CPS survey courses taught at the undergraduate level, • Domain-specific degree programs that include a CPS concentration or focus, • A bachelor's-level CPS degree, and • A master's-level CPS degree.
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From page 36... ...
Computing and Energy Computing and IoT in embedded systems Engineering Security engineering Iowa State University CprE 558: Real Time Embedded systems graduate College of Engineering Systems certificate CprE 588: Embedded Computer Systems University of Illinois ECE 486: Control Undergraduate College of Electrical and Systems concentration in cyberComputer Engineering CS 431: Embedded physical systems Systems New York University CS 2204: Digital Logic Undergraduate computer School of Engineering and State Machine science degree with a Design concentration in computer EL 5483: Real Time hardware and embedded Embedded Systems systems University of California, EECS 149.1x: Cyber Open Access online course Berkeley Physical Systems
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From page 37... ...
The University of California, Santa Cruz, for example, offers an Introduction to Cyber-Physical Systems course through its College of Engineering as a part of the engineering curriculum. This class provides a basic overview of concepts and tools of CPS such as "modeling and analysis tools for continuous-time and discrete-time systems; finite state machines; stateflow; timed and hybrid automata; concurrency; invariants; linear temporal logic; verification; and numerical simulation."1 The course provides an introduction to modeling and analysis of CPS.
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From page 38... ...
In addition to these analytical skills, CPS also requires skill in synthesizing systems from understood components and integrating multiple disciplines and perspectives. A report of a National Institute of Standards and Technology-sponsored workshop on future opportunities for CPS encourages significant enhancements to the engineering curricula in CPS degree programs, emphasizing systems sciences, engineering with an enhanced focus on multidisciplinary research.3 Establishing multi-department CPS degrees and resources will help to build and sustain the future CPS workforce, with the goal of establishing a more formal teaching and training approach to CPS.
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From page 39... ...
Several efforts, most recently and broadly the "CS for All" initiative, are aimed at introducing computer science and computational thinking into K-12 education across the country and may provide opportunities to introduce CPS concepts and foundations. VOCATIONAL AND COMMUNITY COLLEGES Community colleges fulfill multiple roles in providing educational opportunities for students.
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From page 40... ...
It starts by discussing ways to add CPS content to introductory courses for engineering and computer science undergraduates and approaches for creating survey courses that provide a more in-depth introduction to CPS. It then turns to ways to add a CPS specialization to existing engineering programs and options for creating an undergraduate program in CPS.
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From page 41... ...
RECOMMENDATION 3.3: Universities should consider add ing cyber-physical systems content to freshman-level introductory courses for students in all areas of engineering and computer science. New Survey Courses in CPS Given the wide breadth of knowledge required for CPS, the structure of survey courses could take several approaches.
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From page 42... ...
Box 3.1 provides some examples of high-level undergraduate survey courses; any such listing of courses and programs represents only a sampling of an always-evolving set of courses and programs being developed and offered in the United States and worldwide. Although the topics are listed in Box 3.1, it is important to note that all of the classes include hands-on projects or laboratory work that not only emphasize course topics but also the integration of the cyber and physical worlds.
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From page 43... ...
The course also includes a series of projects that implement safety critical embedded systems, such as a pacemaker or infusion pump. Topics Introduction to Cyber Physical Systems • CPS applications • Characteristics and challenges Requirements, Modeling, and Analysis • Model-based development • Requirements capture and modeling • State machines, timed automata • Properties and model checking • User mental models • Architecture description languages • Code generation and synthesis Implementation Paradigms and Techniques • Real-time operating systems • Programming paradigms and languages • Compositional and feedback-based real-time scheduling • Feedback control in computer systems • Virtual machines, hypervisors, separation kernels • Components, plug-and-play of embedded systems • Mixed criticality systems • Distributed real-time systems concepts: Ordering, global time, clock synchronization • Security and privacy Validation, Verification, and Certification • Testing coverage and generation • Model-based testing • Closed-loop testing • Run-time monitoring and verification techniques • Human-computer interactions • Modular and evidence-based certification • Hazard analysis, assurance cases continued
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From page 44... ...
Sehsia, University of California, Berkeley This survey course is taught within the electrical engineering and computer science school. Prerequisites include Designing Information Devices and Systems or Signals and Systems, Computer Architecture, and Discrete Mathematics.
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From page 45... ...
PATHS TO CPS KNOWLEDGE 45 • Discrete events • Data flow Basic Analysis, Control, and Systems Simulation • Bisimulations • Reachability analysis • Controller synthesis • Approximating continuous-time systems Interfacing with the Physical World • Sensor/actuator modeling and calibration • Concurrency in dealing with multiple real-time streams • Handling numerical imprecision in software Mapping to Embedded Platforms • Real-time operating systems • Execution time analysis • Scheduling • Concurrency Distributed Embedded Systems • Protocol design • Predictable networking • Security Lectures • Cyber-physical systems overview • Sensors and actuators • Model-based design and continuous dynamics • Memory architectures • Input and output • Modeling modal behavior and discrete dynamics • Extended and time automata • Composition of state machines • Hierarchical state machines • Specifications and temporal logic • Comparing state machines • Reachability analysis • Using temporal logic in CPS autograders • Multitasking • Operating systems, microkernals, and scheduling • Scheduling anomalies • Execution time analysis • Synchronous, reactive, and dataflow models • Security for embedded systems • Network-embedded systems
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From page 46... ...
As an example, within civil engineering these concentration areas include structural, geotechnical, transportation, environmental, hydrology/hydraulics, and construction engineering. Examples of mechanical engineering concentration areas include robotics and controls, thermal-fluid systems, manufacturing, and solid mechanics.
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From page 47... ...
examples, based on existing curricula from several universities, show that the mechanical engineering curriculum has, to some degree, more existing CPS-focused core classes and technical electives than the civil engineering curriculum. However, these existing courses may require redesign in an effort to better introduce undergraduates to the cyber aspects of CPS and their interactions with the physical, as defined in Chapter 2.
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From page 48... ...
Traditional Civil Engineering Courses (13 courses) • Introduction to Engineering Graphics • Mechanics I: Statics • Mechanics II: Dynamics • Solid Mechanics • Fluid Mechanics • Thermodynamics • Environmental Engineering • Civil Engineering Materials • Required electives (4 classes from Structural Engineering, Construction Management, Environmental Engineering Systems, Hydraulic Engineering, Geo technical Engineering, Transportation Engineering)
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From page 49... ...
Current CE curricula have few undergraduate elective courses that focus on CPS concepts. If redesigned, some current elective courses could incorporate CPS principles, examples include the following: • Geographic Information Systems • Transportation Planning and Design • Infrastructure Rehabilitation • Environmental Geotechnology • Subsurface Characterization • Environmental Systems Design • Building Information Modeling • Conceptual Structural Design • Computational and Graphical Tools for Structural Engineering • Structural System Testing and Model Correlation Proposed new CPS-centric electives:1 • Principles of CPS: Sustainable Infrastructure • Principles of CPS: Urban Planning • Signals and Systems • Sensor Networks for Civil Engineering Systems • Model-Based Systems Engineering • Structural Health Monitoring Social Science, Economics, Humanities (8 courses)
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From page 50... ...
• Introduction to CPS (Freshman Laboratory Course) • Computer Programming • Data Structures and Algorithms • Programming Physical Systems • Software Engineering • Model-Based System Design • Heterogeneous Models of Computation • Formal Methods and Synthesis • Resource-Aware Real-Time Computing • Control Systems • Optimization • Digital Signal Processing example, to a control theory expert, a single course on control would not cover the topic to a depth they feel is necessary.
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From page 51... ...
Possible topics: Inference under uncertainty, security, privacy, wireless sen sor networks, computer architecture, operating systems, databases, data science, cloud computing, communication networks, network science, network control, resil ient systems, information theory, machine learning, artificial intelligence, optimiza tion, robotics, stochastic systems, adaptive systems Societal Impact Electives (3 courses) • Contextualize domain independent foundations to specific domains • Show students the sense of empowerment their CPS skill set provides • Ethics • Possible topics: Modern avionics, automotive systems, robotics, smart buildings, intelligent transportation, smart grid, medical devices, air traffic control, unmanned aerial vehicles Social Science and Humanities (8 courses)
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From page 52... ...
Most universities allow for the cross-listing of courses that are applicable to electrical and computer engineering and computer science degrees, which tends to blur such distinctions and provides students with the flexibility to acquire the desired balance of perspectives as they study CPS. Caveats and Notes on Curriculum Flexibility in Course Work In today's engineering schools, the need for flexibility in curricula is stressed for students.
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From page 53... ...
• Control Systems • Optimization CPS Electives (choice of 3 courses) Possible topics: Security, privacy, data science, cloud computing, networks, network control, resilient systems, information theory, machine learning, artificial intelligence, optimization, adaptive systems Senior Capstone Design (2 semesters; counts as 2 courses)
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From page 54... ...
Select six from the following list: • Programming Physical Systems/Embedded Control Systems (after 2 pro gramming classes) -- deal with uncertainties, risk management, reliability, depend ability and security • Networked embedded systems -- including wireless network, sensor networks, real-time, and control inputs, distributed systems, and communication networks • Model-Based Development -- modeling, logic, formal methods and synthe sis, but all geared toward CPS • Linear, Feedback, and Control Systems • Digital Signal Processing • Stochastic Systems (Estimation, Detection, Inference, Adaptation)
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-- Machine Learning (CS) -- Safety, Security, Privacy for High-Assurance CPS Applications Senior Capstone Design (2 semesters; counts as 2 courses)
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From page 56... ...
In other words, they assume either infinite computational resources or antiquated computational models. Moreover, typical introductory courses in control systems do not teach students about how to define the formal requirements needed to include control in the design flows used in modern CPS applications.
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From page 57... ...
Because this is such an important point, it is illustrated by the following set of examples for how traditional courses could be modified to cover topics needed for CPS: • Control theory. Control theory classes in electrical engineering emphasize topics such as stability, performance, optimization, and design of linear and nonlinear feedback systems.
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From page 58... ...
• Computer and Network Security -- o cover attacks exploiting physical properties of computation (e.g., T time, temperature, radiation) • Hybrid Systems -- odeling, verification, and control of systems containing discrete and M continuous components • Networked Control Systems -- ontrol over wired and wireless networks C -- mpact of delays, packet collisions, and protocols on performance I • Computer Architecture • Systems Engineering • Sensor Networks • Medical Embedded Systems • Robotics • Machine Learning • Modeling from Data
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From page 59... ...
Classes that show students how to apply key principles to CPS domains such as smart grids, jet engine control, or medical systems are of increasing importance. GRADUATE DEGREE PROGRAMS A handful of masters of science degrees focused on embedded systems or CPS exist.
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