Networked Cyber-Physical Systems at SRI

 

 

 

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The Cyber-Framework is an application framework that provides a uniform abstraction for a wide range of NCPS applications, especially those concerned with distributed sensing, optimization, and control.  The proposed framework provides a generic service to represent, manipulate, and share knowledge across the network under minimal assumptions on connectivity.

 

The latest version of our implementation is available for download under the Apache Open Source License 2.0.

 

The cyber-framework has been tested on the following systems:

  1) Suse Linux 2.6.31.5-0.1-default

      Java(TM) SE Runtime Environment (build 1.6.0_20-b02)

      Java HotSpot(TM) Client VM (build 16.3-b01, mixed mode, sharing)

  2) Debian Linux version 2.6.26-2-686 (Debian 2.6.26-21lenny4)

      Java(TM) SE Runtime Environment (build 1.6.0_20-b02)

      Java HotSpot(TM) Client VM (build 16.3-b01, mixed mode, sharing)

  3) Ubuntu Linux 10.10 (2.6.35-28-generic)

      Java(TM) SE Runtime Environment (build 1.6.0_24-b07)

      Java HotSpot(TM) Client VM (build 19.1-b02, mixed mode, sharing)

  4) Mac OS X Version 10.6.4

      Java(TM) SE Runtime Environment (build 1.6.0_20-b02-279-10M3065)

      Java HotSpot(TM) 64-Bit Server VM (build 16.3-b01-279, mixed mode)

  5) Gumstix (http://www.gumstix.net) with Ubuntu Linux 2.6.29-omap1

      Java(TM) 2 Runtime Environment, Standard Edition for Embedded (build 1.6.0_10-b42)

      Java HotSpot(TM) Client VM (build 11.0-b15, mixed mode)

  6) Android 2.3.7 (http://www.android.com)

 

Please create a directory (e.g., cf-1.3) and untar any necessary files under that directory.

 

The following package contains a minimal implementation of the core of our Cyber-API intended for tutorial purposes and to gain familiarity with the basic interfaces. For details, please refer to [1].

 

      Cyber-API (Last updated: May 14, 2013)

 

The following is the main implementation of our Cyber-Framework that can be used in simulated and real world mode. We also provide an extended version that can (optionally) interface with the Stage multi-robot simulator. For details, please refer to [1].

 

      Cyber-Framework (Last updated: July 2, 2013)

      The math library (commons-math-2.1-src.tar.gz) is required and can be downloaded from here.

      The mason multiagent simulation and visualization engine (version 15) is required and can be downloaded from here.

      Stage Extension for the Cyber Framework (Last updated: June 29, 2011).

      The Stage multi-robot simulator (Stage-3.2.2-Source.tar.gz) is required for this extension and can be downloaded from here.

      The FindJNI.cmake file is required and can be downloaded from here.

      Also the Wifi Model for Stage 3.2 (three files) is required and can be downloaded from here.

 

The following package contains our distributed logical framework for declarative control on top of the Cyber-Framework. It can be used with or without the Stage extension. For details, please refer to [1][2][3].

 

      Declarative Reasoning Engine (Last updated: June 29, 2011)

      Prolog (2p-2.1.1.zip) is required and can be downloaded from here.

      Case Study with abstract mobility model (Last updated: June 29, 2011)

      Case Study with Stage simulator (Last updated: June 29, 2011)

      Case Study with real world implementation (Last updated: June 29, 2011)

 

The following package contains our distributed and parallel meta-heurisitc framework on top of the Cyber-Framework.

 

      PADO (Parallel and Distributed Optimization) framework (Last updated: June 29, 2011)

      Opt4J meta-heuristic optimizaton framework (opt4j-2.3-sources.zip) is required and can be downloaded from here.

 

The following package contains our distributed computing model and execution engine for dataflow, controlflow, and workflow in Fractionated CPS with a case study of UAV swarms on top of the Cyber-Framework.

 

      Distributed Execution Engine (Last updated: Aug. 23, 2012)

 

The following package contains our ARDrone (http://ardrone.parrot.com) APIs and examples (including video recording from multiple drones) on top of the Cyber-Framework.

 

      ARDrone-API (Last updated: Aug. 23, 2012)

 

The following package contains a variety of use-cases such as cyber-physical game, local anonymous chat, and collaborative brainstorming applications. We focus on design principles of NCPS such as what are the key objects, how they interact with the user and the knowledge system, how the ordering among knowledge items can be defined, and what features of knowledge dissemination are most effective for certain scenarios. For details, please refer to [1][4].

 

      Jigsaw Puzzle [src] [.jar] (Last updated: May 14, 2013)

      CfChat [src] [.apk] (Last updated: July 2, 2013)

      BrainMap [src] [.apk] [.jar] (Last updated: May 14, 2013)

 

References:


1.     M. Kim, M-O. Stehr, J. Kim, S. Ha,

            An Application Framework for Loosely Coupled Networked Cyber-Physical Systems

            8th IEEE/IFIP Conference on Embedded and Ubiquitous Computing (EUC10),

            Dec. 2010. Hong Kong, China.

 

2.     M-O. Stehr, M. Kim, C. Talcott

Toward Distributed Declarative Control of Networked Cyber-Physical Systems

            7th International Conference on Ubiquitous Intelligence and Computing (UIC'10),

            Oct. 2010, Xian, China.

 

3.     M. Kim, M-O. Stehr, C. Talcott

A Distributed Logic for Networked Cyber-Physical Systems

            IPM International Conference on Fundamentals of Software Engineering (FSEN'11),

            Apr. 2011, Teheran, Iran.

 

4.      J-S. Choi, T. McCarthy, M. Yadav, M. Kim, C. Talcott, E. Gressier-Soudan

Application Patterns for Cyber-Physical Systems

            IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA), Aug. 2013, Taipei, Taiwan.

 

 

 

 

 

 

Last updated: July 2, 2013