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
Joint Design of Control and Communication Systems
 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: (Tl ,dl ,rl )
 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

EDF Uniform
 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

EDF Uniform
 Medium Access Control Layer: System Model
 (Tl ,dl ,rl ) given for each link l
 T1 ≤ T2 ≤ ... ≤ TL
 Choose subframe length as T1 for uniform allocation
 Assume Ti /T1 = si is an integer: Allocate every si subframes

 Uniform distribution ≡
max active time=0.9ms
minimize max subframe active time

EDF

max active time=0.6ms

Uniform ✓
Example Optimization Problem Formulation

Maximum active time of subframes

Periodic packet generation

Delay requirement

Energy requirement

Maximum allowed power by UWB regulations

Transmission time

Transmission rate of UWB for no

concurrent transmission case
 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

Hard real-time guarantee not possible for wireless

MAD MATI -> 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 802.15.4e
 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
 Publications
 Y. Sadi, S. C. Ergen and P. Park, "Minimum Energy Data Transmission for
Wireless Networked Control Systems", IEEE Transactions on Wireless
Communications, vol. 13, no. 4, pp. 2163-2175, April 2014. [pdf | link]

 Y. Sadi and S. C. Ergen, “Optimal Power Control, Rate Adaptation and

Scheduling for UWB-Based Intra-Vehicular Wireless Sensor Networks”, IEEE
Transactions on Vehicular Technology, vol. 62, no. 1, pp. 219-234, January 2013. [pdf
| link]

 Y. Sadi and S. C. Ergen, "Energy and Delay Constrained Maximum Adaptive

Schedule for Wireless Networked Control Systems", submitted.
 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: sergen@ku.edu.tr

Personal webpage: http://home.ku.edu.tr/~sergen
Wireless Networks Laboratory: http://wnl.ku.edu.tr