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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]. á
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]. á
Cyber-Framework
(Last updated: July 2, 2013) á
The math library
(commons-math-2.1-src.tar.gz) is required and can be downloaded from here. á
The mason multiagent simulation and
visualization engine (version 15)
is required and can be downloaded from here. á
Stage Extension
for the Cyber Framework (Last updated: June 29, 2011). á
The Stage multi-robot simulator
(Stage-3.2.2-Source.tar.gz) is required for this extension and can be
downloaded from here. á
The FindJNI.cmake file is required
and can be downloaded from here. á
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]. á
Declarative
Reasoning Engine (Last updated: June 29, 2011) á
Prolog (2p-2.1.1.zip) is required and
can be downloaded from here. á
Case
Study with abstract mobility model (Last updated: June 29, 2011) á
Case
Study with Stage simulator (Last updated: June 29, 2011) á
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.
á
PADO (Parallel and
Distributed Optimization) framework (Last updated: June 29, 2011) á
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.
á
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.
á
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]. á
Jigsaw Puzzle [src] [.jar] (Last updated: May 14, 2013) á
CfChat [src] [.apk] (Last updated: July 2, 2013) á
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
(EUCÕ10), 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. |
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Last updated: July 2, 2013