INDUSTRIAL INTERNET OF THINGS (3171930)

Semester VII

Chapter Name: Modelling of CPS and CMS

Q.1 What is IIoT for smart manufacturing?

Q.2 Explain System engineering and its vision 2025.
Q.3 Explain about modeling of Cyber Physical Engineering and Manufacturing.
Q.4 Explain digital thread for smart manufacturing.
Q.5 Explain the importance of standards in smart manufacturing.
Q.6 Explain smart manufacturing systems (SMS) Test bed Components.
Q.7 Write short note on Prognostics, Health Management and Control.

Modeling of Cyber Physical Engineering for Manufacturing

Cyber-physical systems (CPS) are integrated embodiments of cyber systems (consisting of
computing, communication, and control elements) and physical systems (consisting of geometrical
and material elements). Almost all products used in modern society are cyber-physical systems.
Almost all modern manufacturing systems to produce these products are also cyber-physical
systems. Engineering such complex CPS has re-energized the field of systems engineering, which
has been moving steadily away from a document-based practice to a model-based discipline. In
fact, success in cyber-physical systems engineering strongly depends on proper application of
model-based systems engineering (MBSE).

❑ Cyber-Physical Systems
The U.S. National Science Foundation (NSF) has been a major investor in fundamental research in
CPS since 2010, and it defines and explains CPS as follows:
“Cyber-physical systems are engineered systems that are built from, and depend upon, the
seamless integration of computational algorithms and physical components. Advances in CPS will
enable capability, adaptability, scalability, resiliency, safety, security, and usability that will far
exceed the simple embedded systems of today. CPS technology will transform the way people
interact with engineered systems—just as the Internet has transformed the way people interact with
information. New smart CPS will drive innovation and competition in sectors such as agriculture,
energy, transportation, building design and automation, healthcare, and manufacturing”

❑ Systems Engineering

⮚ The International Council on Systems Engineering (INCOSE) defines and describes

systems engineering as follows:
“Systems Engineering is an interdisciplinary approach and means to enable the realization of
successful systems. It focuses on defining customer needs and required functionality early in the
development cycle, documenting requirements, then proceeding with design synthesis and system
validation while considering the complete problem. Systems Engineering integrates all the

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
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Chapter Name: Modelling of CPS and CMS

disciplines and specialty groups into a team effort forming a structured development process that
proceeds from concept to production to operation. Systems Engineering considers both the
business and the technical needs of all customers with the goal of providing a quality product that
meets the user needs.”

⮚ The renaissance in systems engineering referred to above is caused by the application of

recent advances in information science and technology to the field of systems engineering.

⮚ Traditionally, the systems-engineering practice has been dominated by paper (or paper-
equivalent electronic files) documents. Such documents are read only by human beings,
who comprehend the content and take further action. This practice is being replaced by a
systems-engineering discipline that is based on information models that can be read by
machines (in addition to being read by humans).

⮚ Machine-readability is a prerequisite for automation, which improves both the quality and
speed of information processing in systems engineering
Recently, INCOSE has published an updated vision called Vision 2025

 The center of gravity for systems engineering has shifted from aerospace and defense
sectors towards automotive and consumer electronics sectors.

 There is a move from MBSE to Model-based Enterprise (MBE) to cover lifecycle phases
of products.

 The focus of systems engineering has shifted to composition and integration, as opposed to
mainly decomposition.

❑ Manufacturing Innovation
United States President’s Council of Advisors on Science and Technology (PCAST) to identify
the following transformative technologies for manufacturing innovation:

 Advanced sensing and control;

 Informatics and visualization;

 Digital manufacturing integration;

 and Advanced materials manufacturing

The Industrial Internet Consortium is focused on enabling smart technologies for industrial
applications. Digital manufacturing is the ability to connect different parts of the
manufacturing life-cycle through data, and to utilize that information to make smarter, more
efficient business decisions.

❑ Smart Manufacturing systems Programs at NIST

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
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Chapter Name: Modelling of CPS and CMS

NIST supports two smart manufacturing systems programs: one focusing on the design and
analysis problems, and other on the operations planning and control problems.
The U.S. National Institute of Standard and Technology define Smart Manufacturing as “fully
integrated, collaborative manufacturing systems that respond in real time to meet changing
demands and conditions in the factory, in the supply network, and in customer needs.
Standards for enterprise and supply chain systems integration such as the open application group
integration specification (OAGIS), help streamline business processes between partners in the
supply chain.
Modeling Methodologies for Manufacturing System Analysis
When developing new, and operating existing, production systems, manufacturers require
knowledge that the proposed system designs are feasible and will yield optimal results. Rather
than using analytical models, many manufacturers still use empirical (e.g., trial and error) methods
to design, operate, or redesign production systems. There are several reasons. First, the
development of models and the interpretation of results do not follow a precise methodology
shared across various usages. This limits the ability to develop systematic means to apply
analytical techniques to decision making. It also significantly increases the time and cost of
making actionable recommendations. Because of this, analytical modeling efforts for
manufacturing systems are often overtaken by events such as decision deadlines and equipment
malfunctions, among others. Second, in addition to creating analytical models, there are
fundamental challenges to actually using them. Challenges include (1) making use of information
from various sources, (2) knowing that the techniques to be applied are appropriate to the situation,
knowing the extent to which analytical results are valid, and acting on the insight the effort
provided. The consequences include missed opportunities to reuse knowledge, unreliable results,
and high cost of analysis.
Currently, the models and information sources used in analytical activities are not easily
integrated. A principal barrier to integration is a lack of methods that support composition both
among model components and disparate viewpoints.
A viewpoint is a set of related concerns drawn from a representation of the whole system. Existing
research does not take advantage of the unique characteristics of smart manufacturing. These
characteristics include on-going need for analytical methods, their integration with data from
operations, their integration with production control systems, and the ability to dedicate a portion
of manufacturing resources to experimental investigation of new processes.

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 INDUSTRIAL INTERNET OF THINGS (3171930)
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Chapter Name: Modelling of CPS and CMS

⮚ An emerging technology, domain-specific modeling, provides an efficient means to

represent a variety of viewpoints, but it lacks a methodology for effective composition of
model components. Figure 1 illustrates how such models could be

⮚ composed to form sophisticated analytical tools by using problem-formulation and tool

meta-models. Equation-based modeling offers an effective method of composition, but it
only works for certain applications.

⮚ One of those applications, and the initial focal point of this project, is optimization,
specifically scheduling optimization.

⮚ The project is developing methods for representing and composing the analytical models
needed to formulate and solve scheduling problems in a smart-manufacturing plant.

⮚ The methods involve synthesizing elements of functional, domain-specific, and equation-

based modeling methods. If successful, this methodology, which can be extended to deal
with other types of optimization problems, will become an integral part of smart
manufacturing systems.

Predictive Analytics for Manufacturing Systems

The dramatic increase in the availability of data from the machine to the enterprise has increased
the potential for improved prognostics and diagnostics. Predictive analytics is the principal
foundation for realizing that potential. Numerous commercial, predictive-analytics solutions are in
use today.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

Standards for analytics information, such as Predictive Markup Modeling Language (PMML), are
being extended to support manufacturing applications and are a major focus of this project. Figure
2 shows an overview of a proposed framework for predictive analytics in manufacturing. The
vision of this project is to use this framework as a foundation for demonstrating a prototype,
predictive analytics solution that improves production system efficiency. The prototype system
will include manufacturing models for predictive analytics, domain-specific languages for
performing predictive analytics, and standard interfaces for data analytics tools. The goal of this
prototype is to make it easier for manufacturing domain Fig. 2 Overview of a framework for
predictive analytics in manufacturing Cyber-Physical Systems Engineering for Manufacturing
experts to build manufacturing system models and generate the necessary analytical models from a
manufacturing system specification.

❑ Smart Manufacturing Operations Planning and Control

The Smart Manufacturing Operations Planning and Control (SMOPAC) Program focuses
standards and measurement science to support integration and technology challenges in the
factory. Within the SMOPAC program, smart manufacturing systems are defined to be fully-
integrated, collaborative manufacturing systems that respond in real time to changing customer
demands and operating conditions in the factory.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

1. Digital Thread for Smart Manufacturing

The promise of smart manufacturing cannot be achieved without access to the right data at the
right time. Today’s industrial practice lacks visibility of product and process information across
lifecycle functions. Design functions lack visibility into information about manufacturing
processes that will be used to produce the product. Manufacturing functions lack visibility into the
intent of the design engineer or measurement results of early production runs. The Digital Thread
for Smart Manufacturing project is concerned with (1) making semantically-rich product and
process data available through open standards, (2) establishing data quality, certification and
traceability, and 3) using trusted information to build knowledge and enable better decision
making. This project builds upon past NIST work in MBE and MBSE and is the largest of the five
SMOPAC projects.
Figure illustrates the opportunities for information sharing and integration in the portion of the
lifecycle that is the focus of this project. Standards exist that support the integration of product and
process information for systems that implement similar functions. Examples include all Computer-
Aided Design (CAD) systems, all computer-aided manufacturing (CAM) systems, all computer-
aided engineering (CAE) systems, and all product data management (PDM) systems. The most
widely recognized of these integration standards is called STEP. Another such standard is the
Quality Information Framework (QIF). This project additionally seeks to support integration of
heterogeneous systems that make up the entire product lifecycle, using open standards, enabling
industry to move from model-based design to MBE.

NIST plays a significant role in the development of QIF and STEP standards.
The digital interoperability needs for a wide variety of smart-manufacturing use cases including
(1) feature-based dimensional metrology, (2) quality measurement planning, (3) first article
inspection, and (4) discrete quality measurement.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

QIF defines, organizes, and associates that data with into higher–level information objects. Such
objects (see Fig. 6) include measurement plans, results, part geometry, PMI, measurement
templates, resources, and statistical analysis.
2. Systems Analysis Integration for Smart Manufacturing Operations
The Systems Analysis Integration for Smart Manufacturing Operations project seeks to deliver
methods and protocols for (1) unifying discipline-specific, engineering, analysis information and
(2) integrating it with existing, unified, systems-modeling information that is modeled in a formal
modeling language. SysML is a such a language. Moreover, it is a standard and is also widely used
around the world. This project uses higher-level system models, created in SysML, to coordinate
discipline-specific engineering analysis. Coordination is achieved by identifying and eliminating
inconsistencies between the system-level models and analysis-level models. The goal of the
project is to enable systems modeling tools and discipline-specific analysis tools to efficiently
exchange and use information during smart manufacturing operations.
NIST has a long history of involvement in the development of a variety of formal modeling
languages in the Object Management Group (OMG). In particular, we have focused on the
continued evolution of the SysML. Most recently, NIST led development of information models
for system-operation requirements, product-family variation modeling, and computer interchange
of graphical representations. NIST also provided software to assess models and modeling-tool
compliance to SysML and related standards
Systems engineering models contain system requirements, designs, and tests, often specified in
graphical modeling languages, such as SysML. These models must be developed in conjunction
with analysis models, such as those used to simulate both physical interactions and numeric signal
flows by solving a set of differential equations. System-engineering and simulation models are
typically developed in separate modeling tools, reducing the efficiency of engineering processes.
3. Wireless Systems for Industrial Environments
The Wireless Systems for Industrial Environment project develops integrated methodology and
protocols to enable, assess, and assure the real-time performance of wireless systems in industrial
environments. An industrial environment, such as one found in a smart manufacturing
environment, requires a variety of wireless technologies to provide seamless connectivity from
low-power sensor nodes to high data rate video links.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
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Chapter Name: Modelling of CPS and CMS

Fig. WSN
Wireless sensor networks (WSN) are a key technology for IoT in manufacturing. As shown in
Fig., a WSN is an internet-like network of sensor nodes that cooperatively sense and possibly
control the environment autonomously or with people in the loop. The advent of smaller, cheaper,
rugged and low-powered sensors is bringing the IoT to even the smallest objects. NIST, with the
International Electrotechnical Commission (IEC), held a workshop to identify challenges of WSNs
for IoT. The results of the workshop are laid out in a white paper published by the IEC. The paper
details the fragmented and disjoint standards landscape for wireless networks and stresses the need
for increased communication and coordination among different standard organizations, unified
planning, optimized resource allocation and reduced repetition of work.
Real-time sensor data from WSN is essential for making decisions in controlling industrial
processes and condition monitoring. However, wireless communication is subject to interference
and thus may affect critical industrial operations. The project has developed simulation framework
in a wireless test bed to study how various wireless sensor network configurations and topologies
affect the performance, including safety, of manufacturing plant operations. The first test case was
simulation of a continuous process chemical plant operation where sensor output is interfaced to
an IEEE 802.15.4-based wireless sensor network via a programmable logic controller. The
integration of a simulated physical system with a real wireless network provides the ability to
examine the effects of real-time wireless communications in a factory running different wireless
activities on simulated plant processes.
4. Cybersecurity for Smart Manufacturing Systems
The Cybersecurity for Smart Manufacturing Systems project seeks to determine quantitatively the
impact of cybersecurity on real-time performance, resource use, reliability, and safety of smart
manufacturing systems. This project focuses on two research challenges: (1) the development of
comprehensive requirements and use cases that represent practical cybersecurity approaches for
real-world needs, and (2) the development of a suite of specific tests that measure the impact of
cybersecurity technology when fulfilling these needs.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

Cybersecurity communities have created a variety of data representation and exchange standards.
These standards address weaknesses and vulnerabilities, naming conventions, system state,
configuration checklists, asset identification, and severity measurement of software and
configuration systems.
5. Prognostics, Health Management and Control
The goal of the Prognostics, Health Management (PHM), and Control project is to develop
methods, protocols, and tools for robust sensing, diagnostics, prognostics, and control. These
results will enable manufacturers to respond to planned and unplanned performance changes,
which will enhance the efficiency of smart manufacturing systems.
Early implementations of smart manufacturing technologies enable manufacturers to use
equipment and process data to inform decision-makers to determine the impact on both
performance and overall process health and update their maintenance strategies. There is an
increasing interest to leverage this data in concert with data from emerging sensing technologies to
generate diagnostic and prognostic intelligence for improved control. This project focuses on the
standards and measurement science needed to enable and promote such intelligence.
Complex system, sub-system, and component interactions within smart manufacturing systems
make it challenging to determine the specific influences of each on process performance,
especially during disruptions.
The simultaneous operation of complex systems within the factory increases the difficulty to
determine and resolve failures due to ill- or undefined information flow relationships.
6. Smart Manufacturing Systems Test Bed
The goal of this test bed is to extend the production-focused test bed concepts in the past to include
testing the other phases of the product lifecycle. To achieve that goal, the test bed includes a
Computer- Aided Technologies (CAx) Lab, a Manufacturing Lab and data publication web
services. These labs are integrated using a string of digital interfaces creating a digital thread of
information across the product lifecycle. This test bed serves as a reference implementation that
manufacturers may use to collect data safely and efficiently without disruption to operations. Data
is collected from the Manufacturing Lab using the MT Connect standard. That data is aggregated
and published internally and externally of NIST via web services. Three channels of data
dissemination are available or becoming available from the SMS Test Bed: (1) a volatile data
stream using an MT Connect agent, (2) a query-able data repository using the NIST Material Data
Curation System, and (3) pre-compiled data packages that include a collection of CAx Lab data
and associated Manufacturing Lab data.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

Q.8 Explain the importance of model-based system engineering in IIoT.

Q.9 Describe model-based engineering of supervisory controllers for Cyber Physical
Systems.
Q.10 Explain different components of the Multi mover (AGV) with suitable diagram.
Q.11 List down different Hybrid Models of the Uncontrolled System of AGVs. Explain any 4
models in details.
Q.12 Explain in detail the positioning of supervisory control for Cyber-Physical Systems.
Q.13 Explain synthesis of Supervisory Controller with suitable example.

Model-Based Engineering of Supervisory Controllers for Cyber-Physical

Systems
Model-Based Systems Engineering
The performance and functionality of complex integrated machines or cyber physical systems
depend on the strong interaction between the control system and the physical components. During
the development process of this kind of systems this interaction should be taken into account from
the beginning. The process starts with a thorough analysis of user requirements that describe the
required functionality and performance. From the user requirements, concept specifications for
both the physical and the control components are derived during the concept development phase.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

The physical-design phase is meant to precisely define how the control system interacts with the
sensors and actuators. Models with an accurate description of the sensors and actuators of the
system are developed, and the control system is adapted to match the changes. Moreover, the
model can be used for evaluation of system performance trade-offs. For example, the selection of
controller hardware components, such as processors or bus structures.
In the implementation and testing phase, the control system is moved to the real-time platform. For
correct real-time functionality, the calculations should be performed within well-defined time
periods. Therefore, it is important to assess the impact of the duration of calculations on
communication behavior. In case of differences with respect to the behavior in simulation time,
correctness analysis has to be performed, which can give rise to changes in the design.
The first two development phases deliver virtual system models, which are accurate descriptions
of system components and of the associated control. Ideally, in the last phase, the virtual system
model is replaced by its real counterpart, and the control system is applied in the real-time
environment without modifications.
Synthesis-Based Development of Coordination Control
The control of cyber-physical systems usually consists of several layers of controllers. As
mentioned above, coordination control is one of the important aspects because it enables the
networked integration of manufacturing machines, equipment, and systems. In this chapter, we
focus on supervisory controllers at the coordination layer and the interface to feedback controllers
at the resource layer. The feedback control loops are based on continuous representations of
components.
At higher layers, discrete-event representations are suitable for dealing with situations like system
or work cycle start-up and shut-down, task initiation and coordination, change of operation mode,
exception handling, failure diagnosis and recovery. The intermediate layer, interface, is positioned
between feedback controllers designed based on continuous-time models of the system and the
control logic implemented by the supervisory controller. In this setting, the system and feedback
controllers from the lower layers can be abstracted as discrete-event models for the purpose of
supervisory control. At the interface, information from sensors and feedback controllers is
abstracted in the form of events, while command events from the supervisory controller are
translated to appropriate input signals to the actuators or set-points to feedback controllers. The
position of the supervisory control layer in a cyber-physical (manufacturing) system is graphically
depicted in Fig. 1,

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

Description of an AGV System

Automated Guided Vehicles (AGV) are driverless, battery-operated and computer-controlled
vehicles that can transport materials within a manufacturing or distribution facility.. These vehicles
can be equipped with different types of steering and guidance. In this case study, an AGV called
multi mover is considered which is equipped with one drive and one steer motor and which is able
to follow a track integrated in the floor.
Every multi mover is equipped with several components that together need to take care of the
given transport tasks. Additionally, the multi movers interact with each other and the supervisory
controller that needs to be developed has to make sure that they all safely move around.
Components of the Multi Mover
A multi mover contains two different motors: a drive motor and a steer motor. The drive motor
drives the multi mover forwards or backwards with a certain speed. The steer motor enables the
multi mover to take turns so that it can follow the track integrated in the floor. The floor codes
positioned near the track give additional information about it, such as the presence of a switch, a
junction or a dead-end. To handle this information, the ride control component is integrated in the
multi mover. The ride control receives the start and stop signal to make the multi mover start or
stop riding, respectively.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

As mentioned above, the multi mover is a battery-operated vehicle. The component that gives a
signal if the battery level is too low is called the battery sensor. This is necessary to stop the multi
mover safely instead of in an uncontrolled way when the battery is really empty.
To prevent collisions, the multi mover obtains information about obstacles, like walls, machines or
other multi movers, through four proximity sensors. It is equipped with two pairs of sensors at the
front and the back. Each of these pairs contains a sensor for long-range detection of 6 m and a
sensor for short-range detection of 1 m.
There is a possibility that a moving object approaching the multi mover comes in direct contact
with it. Therefore, the multi mover is equipped with a bumper switch, which signals a direct
contact with an object. In such a case, the multi mover must stop directly because an unsafe
situation could arise.
The multi mover is also equipped with three LEDs to display status information for the operator.
The reset LED serves as an indication of errors. The other two LEDs, the forward and the
backward LED, are used to indicate that the multi mover can be initiated in the corresponding
direction.
The multi mover also has three buttons to operate the multi mover. One button is used to actuate
the multi mover forwards, one to actuate it backwards and one to reset the multi mover when an
error has occurred.
Interaction of the Components
The components described previously interact with each other. In Fig., the interaction between the
components is displayed graphically.
The track (wire) and the objects in the “Surroundings” are not part of the multi mover. However,
they do interact with its components. The wire sends information to the multi mover like the start
and stop signal of the ride control. The surroundings interact with the proximity sensors and the
bumper switch because these sensors can be triggered by objects in the vicinity of the multi mover.
The motors interact with the surroundings due to the fact that the multi mover moves.
The ride control interacts with the motors to control the movements. The proximity sensors
interact with the motors, especially with the drive motor. If the long-range proximity sensor in the
drive direction detects an object in the vicinity of 6 m, the drive motor slows down. If the short-
range proximity sensor in the drive direction detects an object in the vicinity of 1 m, the drive
motor stops. The battery sensor and the bumper switch also interact with the motors. The battery
sensor and bumper switch shut down the motors if they are activated.
The buttons interact with the motors. The error button resets the multi mover to indicate that the
errors are solved. The backward and forward button can initiate the multi mover in the
corresponding direction. This has an influence on the drive motor. The LEDs are influenced by the
motors and the battery sensor. When an error occurs in these components or when the battery
sensor is activated, the reset LED is activated.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

The to be developed supervisory controller has to assure that these components properly interact
with each other to safely perform the required transport tasks.

Hybrid Models of the Uncontrolled System

The hybrid automata that represent the uncontrolled behavior of the system components are
explained. To make these models not too complex for illustration purposes, the following two
assumptions are made:
• The multi movers can only move in four directions, seen from above: left, right, up and down.
• Accelerations, in the driving speed as well as in the rotation speed, are infinite. In other words,
the speed can change instantaneously.
Although physically unrealistic, it still gives a good understanding of the behavior of the system.
Moreover, if needed more realistic models can be defined in the same set-up.
A hybrid automaton consists of locations and edges between those locations. Locations in
combination with variables represent the states of the described components. Edges represent
instantaneous transitions from one location to another (possibly the same) location. Guards may be
used to model conditions under which such transitions may be enabled. Updates (also called
assignments) are used to model value changes of variables as a consequence of taking a transition.
Time passage and the associated continuous-time behavior of variables representing physical
quantities (such as speed, position, force, etc.) is described by differential equations in the
locations of the hybrid automata.
1. Drive Motor

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 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

The model of the drive motor DM contains 3 locations: OFF, ON, and STOPPING. In location
OFF the drive motor is disabled and cannot drive. In location ON it can move in different
directions with different speeds. In location STOPPING it is stopped and can be disabled or
enabled again. The model contains a variable which represents the speed of the drive motor and so
the speed of the multi mover.
2. Steer Motor
The steer motor SM is simplified to a motor with locations ON and OFF. When the multi mover is
moving and the steer motor must steer it in a certain direction (left, right or straight ahead), the
steer motor must be ON to do this.
3. Ride Control
The ride control model (RC) contains two locations, START and STOP. Location START is initial
because as soon as the multi mover is initiated by the operator it is the intention to let the multi
mover drive.
4. Battery Sensor
INACTIVE is the initial location because the system starts always with a loaded battery pack,
which means that the sensor is inactive. Location ACTIVE represents the situation that the battery
is empty and RELOAD that the battery is reloading.
5. Proximity Sensor
The proximity sensor has to two locations: ACTIVE and INACTIVE The guard “something in
sight” makes sure that the event only occurs when there a multi mover or a wall is in the vicinity
of that specific proximity sensor. The guard is expressed in terms of the position of the multi
mover and the positions of the walls and the other multi mover(s), and are left out for conciseness.
The guard “nothing in sight” expresses that it is not the case that something is in sight.
6. Bumper Switch
the bumper switch can only be active or inactive and there are two uncontrollable events which
also contain a guard to ensure the physical behavior. The guards “Bumper touched” and “Bumper
untouched” characterize whether there is a multi-mover or a wall that touches the bumper or not,
and are left out.
7. LEDs and Buttons
Each of the LED models contains two locations: ON and OFF. The backward and forward LEDs
indicate whether the multi mover can be initiated or not. This is initially not the case. Therefore,
the initial state is the OFF state. The reset LED of the multi movers has a slightly different model.
The locations and events are the same, only the initial location is ON because the system starts in
the error state and must be restarted.

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 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

Q.14 Explain formal verification of System C-based Cyber Components.

Formal verification of System C-based Cyber Components

Cyber-Physical Systems (CPS) integrate physical and cyber components. These cyber components
(e.g. HW/SW implementation of embedded control algorithms) are responsible for the
computation part of CPS. Developing such complex components within todays time-to-market
constraints requires building abstract models for architectural exploration and early software
development. This procedure has been systematized resulting in the Electronic System Level
(ESL) design. For ESL design, System C has become the standard modeling language and is
nowadays being employed in various industries (including consumer electronics, automotive,
industrial automation, etc.).
System C is a C++ class library and provides modules, ports, interfaces and channels as the
fundamental modeling components, whereas, the functionality is described by processes. In
addition, the System C library also includes an event-driven simulation kernel. Essentially, the
simulation kernel executes the processes non-pre-emptive and manages their parallel execution by
using delta-cycles.

Most crucial for the success of System C is the concept of Transaction Level Modeling (TLM).
TLM enables the description of communication in terms of abstract operations (transactions). The
simulation of System C TLM models is orders of magnitude faster in comparison to synthesizable
HW models, which are implemented at Register Transfer Level (RTL)

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 INDUSTRIAL INTERNET OF THINGS (3171930)
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Chapter Name: Modelling of CPS and CMS

System C has been implemented as a C++ class library, which includes an event-driven simulation
kernel. The structure of the system is described with ports and modules, whereas the behavior is
described in processes which are triggered by events and communicate through channels. A
process gains the runnable status when one or more events of its sensitivity list have been notified.
The simulation kernel selects one of the runnable processes and gives this process the control.
1. Initialization: Processes are made runnable.
2. Evaluation: A runnable process is executed or resumes its execution. In case of immediate
notification, a waiting process becomes runnable immediately. This step is repeated until no more
processes are runnable.
3. Update: Updates of signals and channels are performed.
4. Delta notification: If there are delta notifications, the waiting processes are made runnable, and
then it is continued with Step 2.
5. Timed notification: If there are timed notifications, the simulation time is advanced to the
earliest one, the waiting processes are made runnable, and it is continued with Step 2. Otherwise
the simulation is stopped.
Q.15 Evaluation model for assessments of Cyber Physical Production Systems.
Q.16 Explain in detail evaluation model for assessment of Cyber-Physical Production
Systems

Evaluation Model for Assessments of Cyber-Physical Production Systems

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

Firstly, visionary and forward-looking literature and conference contributions on cyber-physical

production systems have been extensively analysed, discussed and brainstormed among the
experts. As a result, technology trends in the sense of enabling technologies were conceived. This
results in a set of so-called “abilities”. The “abilities” are headings for fundamental technologies
which enable cyber-physical production systems. Then each ability was categorized to enable a
measurement. The measurement will represent degree of realization of these abilities in production
systems.
These abilities are potentially shaping cyber-physical production systems and are making them
different from ordinary, conventional production systems once available. Abilities are
characteristics or features of a system which can be categorized and described in an abstract way.
For the evaluation of production systems, performance indicators are a well-established approach.
Therefore, and secondly, international standards and literature on production systems and
manufacturing management have been reviewed and are full of performance indicators and metrics
out of which a subset has been identified. These performance indicators and corresponding metrics
have been summed up.

⮚ Thirdly, workshops with experts have been conducted in order to interconnect the
conceived potential benefits, performance indicators and metrics. In this creative exercise
the experts used brainstorming techniques and a scenario method to define the evaluation

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

model. Hypotheses on potential benefits and the technology drivers were set-up. Experts
validated them in discussions using practical examples. During discussion a correlation
between abilities and performance indicators for CPPS became apparent. It was found
necessary to grade the abilities and correlate them with performance indicators and metrics
in order to measure them.

⮚ In the final forth step, a set of value patterns for the system characteristics has been defined
which aim to sketch the relationship between the “abilities” based on enabling technologies
and the “performance indicators” and related metrics.

⮚ In order to evaluate the conceived evaluation model, all resulting abilities and performance
indicators were clustered using a design structure matrix (DSM) approach.

⮚ Inconsistencies have been identified and as a result the identification of typical patterns of
cyber-physical systems have been derived. The value pattern analysis based on the design
structure metrics was useful to structure the argumentation and identify inconsistencies in
the model. These inconsistencies were rectified by repeating some discussion of step three.

⮚ Figure 4 illustrates the chosen approach. The evaluation model of a cyber-physical system
is based on the concept of ability and performance indicators.

⮚ Abilities are abstractions of technology trends whereas performance indicators are

headings for metrics. Based on the evaluation model, value-adds or value patters can be
explained.
Q.17 Explain the foundations of industrial Cyber-Physical Systems in different dimensions
Q.18 Explain dimensions of the successful implementation of industrial Cyber-Physical
System.
Technical understanding of cyber-physical systems by describing them as “integrations of
computation and physical processes”. Their application in practice, however, does not only have a
technical dimension, but also a human dimension with respect to the people who use them, and an
organizational dimension with respect to the surrounding economic structure. The following
section gives a brief overview of the foundations of industrial cyber-physical systems in these
dimensions.
1. Technical Dimension of Cyber-Physical Systems
From a technical point of view, cyber-physical systems are built upon the modular logic of
embedded systems. Embedded systems are information processing devices which form often
miniaturized components of larger computer systems. Every component has a specific functional
purpose. In combination with each other, they determine the value proposition of the entire
system. Popular examples of embedded systems include cars, household appliances, entertainment
electronics and many more.

Prepared By: Mr. Amit Thakkar

 INDUSTRIAL INTERNET OF THINGS (3171930)
Semester VII

Chapter Name: Modelling of CPS and CMS

2. Human Dimension of Cyber-Physical Systems

Besides the aforementioned technological preconditions, there is a human dimension to consider.
The success of the introduction of cyber-physical systems depends significantly on the acceptance
by the users. The interaction between people and cyber-physical systems differs depending on the
type and function of the regarded systems.
Interactions with a high level of attention and awareness are performed with the use of human-
machine interfaces. These human-machine interfaces have many different forms, naming classic
computer input or voice control as examples. Especially the usage of mobile devices like
smartphones and tablets as control devices offers great potential for the interaction between users
and cyber-physical systems.
3. Organizational Dimension of Cyber-Physical Systems
Technically driven approaches tend to neglect that the organizational dimension plays an
important role for the application of cyber-physical systems as well, particularly in a professional
context. The introduction of cyber-physical systems poses as a challenge for many companies
because they have to consider several layers (technology, divisional structure, business model,
etc.) of the enterprise architecture at the same time. The organizational dimension with need for
consideration in this process is described as follows.
Only in rare cases, cutting-edge technologies are introduced by building new production facilities
solely designed to reach the maximum potential of the innovations. What usually happens is that
the new technologies are integrated into an existing operational environment and thus they have to
be aligned with other infrastructure.

Prepared By: Mr. Amit Thakkar