A cyber-physical system is a collection of interconnected computing devices interacting with the physical world. The computing devices together constitute a cyber system that regulates the behavior of the physical world. The cyber system closely monitors the physical world through sensors, computes required control laws based on the current state of the physical world, and applies the computed control law to the physical world through actuators. The sensors, the controllers, and the actuators are developed on top of an embedded platform. Thus, the cyber component of a cyber-physical system is often termed as an embedded control system.
Developing an embedded control system requires the understanding of the physical world with which the system has to interact. The understanding of the physical world is captured in a faithful model that is used for synthesizing feedback control laws using control theoretic methods. Implementing the feedback control law on the embedded computing platform requires addressing the challenges of embedded computing, for example, the availability of limited resources in terms of computing power and memory, stringent timing requirements, and so on. Moreover, most cyber-physical systems are safety-critical. Thus, it is essential that the correctness of such systems is established through the use of formal verification techniques.
The course will cover the modeling, implementation and verification issues related to developing a cyber-physical system. Through the discussion of the implementation of an embedded control system, the course will cover the basic design principles of an embedded system.
The course does not have any formal prerequisites. The students are expected to have mathematical maturity of the level of an undergraduate degree in engineering. However, some familiarity with finite state machines and ordinary differential equations, and programming experience will be helpful.
Homework Assignments - 20%
Mid-Semester Examination - 20%
End-Semester Examination - 30%
Project - 30%
Our department follows this anti-cheating policy strictly.
Homework
Homework 1 (Deadline: August 28, 2018)
Homework 2 (Deadline: September 4, 2018)
Homework 3 (Deadline: October 2, 2018)
Homework 4 (Deadline: October 30, 2018)
Homework 5 (Deadline: November 13, 2018)
Project
Project Proposal Presentations (Scheduled on September 10, 2018 and September 11, 2018)
Project Proposal Submission (Deadline: September 14, 2018)
Final Project Presentation (Scheduled on November 6, 2018, November 12, 2018 and November 13, 2018)
Final Report Submission (Deadline: November 16, 2018)
Mid-Semester Examination
September 17, 2018 (Monday) 10:30 pm to 12:30 pm in KD102
Final Examination
November 29, 2018 (Thursday) 9:00 pm to 12:00 Noon in KD102
| Lecture | Date | Topic | References |
| 1 | July 30, 2018 | Introduction to the course | [LS15 - Ch 1] |
| 2 | July 31, 2018 | Modeling Dynamic Behaviors - Continuous Dynamics | [LS15 - Ch 2] |
| 3 | August 6, 2018 | Basics of Feedback Control Theory | [AM09] |
| 4 | August 7, 2018 | Modeling Dynamic Behaviors - Discrete Dynamics | [LS15 - Ch 3] |
| 5 | August 13, 2018 | Hybrid Systems | [LS15 - Ch 4] |
| 6 | August 14, 2018 | Hybrid Systems | [BK08 - Ch 10, RAS05] |
| 7 | August 20, 2018 | Composition of State Machines | [LS15 - Ch 5] |
| 8 | August 21, 2018 | Composition of Timed and Hybrid Automata | [BK08 - Ch 10, RAS05] |
| 9 | August 27, 2018 | Concurrent Models of Computation | [LS15 - Ch 6] |
| -- | August 28, 2018 | No Lecture - Instructor's Personal Constraints | |
| -- | September 3, 2018 | Holiday: Janmastami | |
| -- | September 4, 2018 | No Lecture - Instructor's Personal Constraints | |
| -- | September 8, 2018 | No Lecture - Instructor's Personal Constraints | |
| 10 | September 10, 2018 | Sensors and Actuators | LS15 - Ch 7] |
| -- | September 11, 2018 | Project Proposal Presentation | |
| -- | September 17, 2018 | Mid-Semester Examination | |
| -- | September 18, 2018 | Mid-Semester Examination | |
| 11 | September 24, 2018 | Embedded Processors | [LS15 - Ch 8] |
| 12 | September 25, 2018 | Memory Architectures | [LS15 - Ch 9] |
| -- | October 1, 2018 | No Lecture - ESWeek 2018 Conference Travel | |
| -- | October 2, 2018 | Holiday: Matatma Gandhi's Birthday | |
| 13 | October 8, 2018 | Input and Output | [LS15 - Ch 10] |
| 14 | October 9, 2018 | Multitasking | [LS15 - Ch 11] |
| -- | October 15, 2018 | Mid-Semester Recess | |
| -- | October 16, 2018 | Mid-Semester Recess | |
| 15 | October 22, 2018 | Scheduling | [LS15 - Ch 12] |
| 15 | October 23, 2018 | Scheduling | [LS15 - Ch 12] |
| 16 | October 29, 2018 | Invariants and Temporal Logic | [LS15 - Ch 13] |
| 17 | October 30, 2018 | Equivalence and Refinement | [[LS15 - Ch 14] |
| 18 | November 5, 2018 | Reachability Analysis and Model Checking | [LS15 - Ch 15] |
| 19 | November 6, 2018 | Quantitative Analysis | [LS15 - Ch 16] |
| 20 | November 12, 2018 | Security and Privacy | [LS15 - Ch 17] |
| -- | November 13, 2018 | Course Feedback and Final Project Presentations (Class will be extended till 5pm) | |
1. A Planning Framework for Heterogeneous Swarm Robots (Tushar Gupta, Madhukant)
2. A Survey on Home Automation Systems (Mukul Chaturvedi, Abhishek Kumar Choudhuri)
3. Solar Tracker (Nikunj Jain)
4. FPGA-Controlled Robot Arm (Rituj Beniwal)
5. Privacy Preserving Motion Planning (Pankaj Siwan)
6. Verification and Bug Localisation for Simulink Models (Nikhil Kumar Singh)
[Alur15] Rajeev Alur. Principles of Cyber-Physical Systems. The MIT Press, 2015.
[AD94] Rajeev Alur, David L. Dill: A Theory of Timed Automata. Theor. Comput. Sci. 126(2): 183-235 (1994).
[AM09] K. J. Astrom and R. M. Murray. Feedback Systems: An Introduction for Scientists and Engineers. Prince- ton University Press, 2009. http://www.cds.caltech.edu/~murray/amwiki/index.php/Main_Page.
[ASK04] Aditya Agrawal, Gyula Simon, Gabor Karsai. mantic Translation of Simulink/Stateflow Models to Hybrid Automata Using Graph Transformations. Electronic Notes in Theoretical Computer Science 109 (2004) 43-56.
[BK08] C. Baier and J.-P. Katoen. Principles of Model Checking. The MIT Press, 2008.
[Harel87] D. Harel. Statecharts: A Visual Formalism for Complex Systems. Science of Computer Programming 8 (1987) 231-274.
[Lee08] Edward A. Lee. Cyber-Physical Systems: Design Challenges. IRORC 2008.
[LS15] Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems, A Cyber-Physical Systems Approach, Second Edition, http://LeeSeshia.org, ISBN 978-1-312-42740-2, 2015.
[OSS12] Sam Owre, Indranil Saha and Natarajan Shankar. Automatic Dimensional Analysis of Cyber-Physical Systems. FM 2012.
[Ras05] Jean-François Raskin. An Introduction to Hybrid Automata. Handbook of Networked and Embedded Control Systems, pages 491-517, 2005.