Towards Energy Efficient and Robust Cyber-Physical Systems Sinem Coleri Ergen Wireless Networks Laboratory, Electrical and Electronics Engineering, Koc University

Cyber-Physical Systems  System of collaborating computational elements controlling physical entities

Wireless Networked Control Systems  Sensors, actuators and controllers connect through a wireless network

Wireless Networked Control Systems  Benefits of wireless  Ease of installation and maintenance  Low complexity and cost  Large flexibility to accommodate modification and upgrade of components  Backed up by several industrial organizations  International Society of Automation (ISA)  Highway Addressable Remote Transducer (HART)  Wireless Industrial Networking Alliance (WINA)

Trade-off for Communication and Control Systems  Wireless communication system  Non-zero packet error probability  Unreliability of wireless transmissions  Non-zero delay  Packet transmission and shared wireless medium  Sampling and quantization errors  Signals transmitted via packets  Limited battery resources  Control system  Stringent requirements on timing and reliability  Smaller packet error probability, delay and sampling period  Better control system performance  More energy consumed in wireless communication

Outline  Optimization of communication system given requirements of control system  Novel design of scheduling algorithms  Joint optimization of control and communication systems  Novel abstractions for control systems

Outline  Optimization of communication system given requirements of control system  Novel design of scheduling algorithms  Joint optimization of control and communication systems  Novel abstractions for control systems

Novel Scheduling Algorithm Design  Packet generation period, transmission delay and reliability requirements:  Network Control Systems  sensor data -> real-time control of mechanical parts  Fixed determinism better than bounded determinism in control systems

Novel Scheduling Algorithm Design  Adaptivity requirement  Nodes should be scheduled as uniformly as possible EDF Uniform

Novel Scheduling Algorithm Design  Adaptivity requirement  Nodes should be scheduled as uniformly as possible 1 EDF Uniform

Novel Scheduling Algorithm Design  Adaptivity requirement  Nodes should be scheduled as uniformly as possible 2 EDF Uniform

Medium Access Control Layer: System Model  given for each link l   Choose subframe length as for uniform allocation  Assume is an integer: Allocate every subframes  Uniform distribution minimize max subframe active time EDF Uniform max active time=0.9ms max active time=0.6ms ✓

Example Optimization Problem Formulation Transmission rate of UWB for no concurrent transmission case Transmission time Maximum allowed power by UWB regulations Energy requirement Delay requirement Periodic packet generation Maximum active time of subframes

Outline  Optimization of communication system given requirements of control system  Novel design of scheduling algorithms  Joint optimization of control and communication systems  Novel abstractions for control systems

Abstractions of Control System  Maximum Allowable Transfer Interval (MATI): maximum allowed time interval between subsequent state vector reports from the sensor nodes to the controller  Maximum Allowable Delay (MAD): maximum allowed packet delay for the transmission from the sensor node to the controller MADMATI Hard real-time guarantee not possible for wireless -> Packet error probability >0 at any point in time

Abstractions of Control System  Stochastic MATI: keep time interval between subsequent state vector reports above MATI with a predefined probability to guarantee the stability of control systems  Many control applications and standards already use it  Industrial automation  IEEE e  Air transportation systems  Cooperative vehicular safety  Never been used in the joint optimization of control and communication systems

Example Optimization Problem Formulation Total energy consumption Schedulability constraint Stochastic MATI constraint MAD constraint Maximum transmit power constraint

Projects at WNL  Intra-Vehicular Wireless Sensor Networks  Supported by Marie Curie Reintegration Grant  Energy Efficient Robust Communication Network Design for Wireless Networked Control Systems  Supported by TUBITAK (The Scientific and Technological Research Council of Turkey)  Energy Efficient Machine-to-Machine Communications  Supported by Turk Telekom  Cross-layer Epidemic Protocols for Inter-vehicular Communication Networks  Supported by Turk Telekom

Thank You! Sinem Coleri Ergen: Personal webpage: Wireless Networks Laboratory: