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Special issue on cyber-physical systems
Microprocessors and Microsystems 52 (2017) 219–220
Contents lists available at ScienceDirect
Microprocessors and Microsystems journal homepage: www.elsevier.com/locate/micpro
Editorial
Special issue on cyber-physical systems
Already in ancient times people constructed various machines. Some of the machines were automatically controlled. The oldest currently known artificial automatically controlled system is probably the water clock invented by Ktesibios (285–222 BC) in Alexandria. Form those times, the construction of machines and more complex physical systems, as well as of their controllers (cyber systems) continued and developed through the centuries. Until the end of 19th century the controllers (cyber systems) were implemented as mechanical, hydraulic and pneumatic systems. In the 20th century they started to be gradually supplemented with or replaced by the electric controllers, and later by the electronic controllers. Introduction of the transistor and integrated circuit technologies in the years 1950s and 1960s, correspondingly, enabled the ongoing digital electronics and information technology revolution. Modern nano-dimension semiconductor technologies enable implementation of a very complex multiprocessor system on a single chip. This facilitates a rapid progress in global networking, mobile wire-less communication, and mobile and autonomous embedded computing. The recent rapid developments in these fields, but also in sensor and actuator technologies, material technologies, artificial intelligence, data-mining and data-fusion technologies etc. combined together to enable and make affordable new much more effective and efficient smart cyber-physical things (e.g. smart robots, homes, cars, wearable and implantable devices, etc.). These rapid developments created a large discrepancy between what is possible and what is used nowadays. This discrepancy causes both a very strong technology push and market pull to create new more effective and efficient products and services, and results in the cyber-physical technology revolution. Recently, a revolutionary transition has been started from the internet of computers to the internet of smart (mobile) cyber-physical systems (CPS), called Internet of Things (IoT). Today’s cyber-physical systems are smart compound systems engineered through seamless integration of embedded information processing sub-systems and physical sub-systems. The vision of smart (often mobile and autonomous) cyber-physical systems, connected and collaborating through various interfaces and communication media to form the global Internet of Things (IoT) is not a science-fiction anymore, but is quickly becoming an actual reality. The smart collaborating CPS, have important applications in virtually all economic and social segments and enormous economic and societal impact. Their economic and societal importance rapidly increases. The huge and rapidly developing markets of cyber-physical systems represent great opportunities, but these opportunities come with a price of unusual complexity, as well as, http://dx.doi.org/10.1016/j.micpro.2017.06.008 0141-9331/© 2017 Elsevier B.V. All rights reserved.
stringent and difficult to satisfy requirements of many modern systems. Specifically, the systems exploiting mobile vision, imaging, and virtual or augmented reality, to a growing degree involve big instant data from multiple complex sensors or from other systems, and are required to provide continuous autonomous service in a long time. In consequence, they demand a guaranteed (ultra-)high performance and/or (ultra-)low energy consumption, while requiring a high reliability, safety and security. This special issue of Microprocessors and Microsystems (MICPRO), the Elsevier Embedded Hardware Design Journal, is devoted to the extended journal versions of selected papers from MECO’ 2016— the 5th Mediterranean Conference on Embedded Computing and ECYPS’ 2016—the 4th EUROMICRO/IEEE Workshop on Embedded and Cyber-Physical Systems. It addresses the applications, architectures, development methodology, embedded processing, sensing and actuating, as well as safety, security and reliability of the modern cyber-physical systems. The issue starts with two papers being extended versions of two invited MECO’ 2016/ ECYPS’ 2016 keynote presentations. The first paper, entitled Advanced Mobile and Wearable Systems, by ´ Lech Józwiak, has a survey character. It considers many aspects of CPS, as well as, of the embedded computing and design technologies for advanced CPS, when focusing on mobile and wearable systems. After an introduction to modern mobile CPS, the paper discusses different application fields of these systems having different specific requirements, and imposing various serious design issues and challenges. Subsequently, it discusses the embedded computing and design technologies needed to adequately address the issues and overcome the challenges. The second invited paper, entitled Cryptanalytic Attacks on Cyber-Physical Systems, by Martin Novotny, has also a review character and discusses vulnerability of various cyber-physical objects to certain cryptanalytic attacks. The issue contains a cluster of papers related to the very important aspects of CPS security, reliability and safety. The paper entitled Influence of Passive Hardware Redundancy on Differential Power Analysis Resistance of AES Cipher implemented in FPGA, by Vojtech Miskovsky et al., considers both the fault tolerance and cryptoanalytic attack resistance in combination. Specifically, it thoroughly discusses how the passive hardware redundancy methods affect the resistance against differential power analysis attacks and how the whole design can be modified to increase the attack resistance. Another paper: Embedded Context Aware Diagnosis for a UAV SoC Platform, by Catherine Dezan et al., is related to reliability and safety of autonomous unmanned aircraft vehicles (UAVs) that operate under uncertain environmental conditions and have
220
Editorial / Microprocessors and Microsystems 52 (2017) 219–220
to face unexpected obstacles, weather changes and sensor or hardware/software component failures. The paper considers fault diagnosis and recovery, and focuses on the health management of the system depending on the mission context. The paper entitled Adaptive ReRouting of Data Flows in Distributed Data Centers, by Dmitry Perepelkin et al., proposes a new mathematical model and an effective fast rerouting algorithm necessary to provide resiliency of the network infrastructure in distributed data centers served by different communication providers. Yet another paper: An Approach to Classification and Under-sampling of the Interfering Wireless Signals, by Andjela Draganic´ et al., is related to safety in the context of multi-standard wireless communication of CPS and proposes a procedure for classification of interfering signals that belong to different wireless standards, but operate in the same frequency band, as e.g. the Bluetooth and IEEE 802.11b standards. Finally, the paper entitled Time Synchronization for an Emulated CAN Device on a Multi-Processor System on Chip, by Gabriela Breaban et al., is devoted to an important problem of time synchronization of cyber-physical automotive applications implemented in a multi-processor system using controller area network (CAN) and discusses how multiple applications can safely share a CAN port, which can be on the local processor tile or on a remote tile. Another cluster of papers is related to vision and image processing in CPS using different image sensors. The paper entitled System-level Design Space Identification for Many-core Vision Processors, by Jones Yudi da Silva et al., discusses the development of a Many-Core Vision Processor architecture suitable for future smart cameras accounting for the whole design trajectory from the high-level application analysis down to the fine-grained operations and physical aspects. Another paper: Embedded Distributed Arithmetic Based Quaternions Multiplier Of Paraunitary Filter Bank For Lossless-To-Lossy Image Coding, by Nick Petrovsky et al., presents a systematic design of an integer-to-integer invertible multiplier using distributed arithmetic as a block of M-band linear phase paraunitary filter banks based on the quaternionic algebra for the lossy-to-lossless image coding. Yet another paper:
Localization Of Moving Edge with Sub-Pixel Accuracy in 1-D Images and its FPGA Implementation, by Miroslav Hagara et al., discusses image contour detection, and specifically, the localization of moving edges with very precise sub-pixel accuracy, and its practical FPGA implementation. Finally, the paper entitled Onboard FPGA-based Fast Estimation of Point Object Coordinates for Linear IR-sensor, by Valery Strotov et al., is related to processing of images from an onboard IR-sensor and describes an algorithm for fast estimation of point object coordinates, as well as, the algorithm implementation in the FPGA-based hardware. The final cluster of papers is related to system development for advanced cyber-physical applications. The paper entitled Criteria for Solar Car Optimized Route Estimation, by Harun Siljak et al., presents a novel route optimization scheme for solar vehicles based on solar irradiance and target distance. Another paper: Accommodating Larger Container Vessels using an Integrated Laser System for Approach and Berthing, by Marko Perkovicˇ et al., discusses the cyber-physical system design for an advanced ranging and docking of large container vessels, as well as, the initial results related to the observed docking of large container vessels. Guest Editors
Radovan Stojanovic´ ∗ University of Montenegro, Faculty of Electrical Engineering, Podgorica, Montenegro ´ Lech Józwiak Eindhoven University of Technology, Faculty of Electrical Engineering, Eindhoven, The Netherlands ∗ Corresponding author. ´ [email protected] (L. E-mail addresses: [email protected] (R. Stojanovic), ´ Józwiak)
Contents lists available at ScienceDirect
Microprocessors and Microsystems journal homepage: www.elsevier.com/locate/micpro
Editorial
Special issue on cyber-physical systems
Already in ancient times people constructed various machines. Some of the machines were automatically controlled. The oldest currently known artificial automatically controlled system is probably the water clock invented by Ktesibios (285–222 BC) in Alexandria. Form those times, the construction of machines and more complex physical systems, as well as of their controllers (cyber systems) continued and developed through the centuries. Until the end of 19th century the controllers (cyber systems) were implemented as mechanical, hydraulic and pneumatic systems. In the 20th century they started to be gradually supplemented with or replaced by the electric controllers, and later by the electronic controllers. Introduction of the transistor and integrated circuit technologies in the years 1950s and 1960s, correspondingly, enabled the ongoing digital electronics and information technology revolution. Modern nano-dimension semiconductor technologies enable implementation of a very complex multiprocessor system on a single chip. This facilitates a rapid progress in global networking, mobile wire-less communication, and mobile and autonomous embedded computing. The recent rapid developments in these fields, but also in sensor and actuator technologies, material technologies, artificial intelligence, data-mining and data-fusion technologies etc. combined together to enable and make affordable new much more effective and efficient smart cyber-physical things (e.g. smart robots, homes, cars, wearable and implantable devices, etc.). These rapid developments created a large discrepancy between what is possible and what is used nowadays. This discrepancy causes both a very strong technology push and market pull to create new more effective and efficient products and services, and results in the cyber-physical technology revolution. Recently, a revolutionary transition has been started from the internet of computers to the internet of smart (mobile) cyber-physical systems (CPS), called Internet of Things (IoT). Today’s cyber-physical systems are smart compound systems engineered through seamless integration of embedded information processing sub-systems and physical sub-systems. The vision of smart (often mobile and autonomous) cyber-physical systems, connected and collaborating through various interfaces and communication media to form the global Internet of Things (IoT) is not a science-fiction anymore, but is quickly becoming an actual reality. The smart collaborating CPS, have important applications in virtually all economic and social segments and enormous economic and societal impact. Their economic and societal importance rapidly increases. The huge and rapidly developing markets of cyber-physical systems represent great opportunities, but these opportunities come with a price of unusual complexity, as well as, http://dx.doi.org/10.1016/j.micpro.2017.06.008 0141-9331/© 2017 Elsevier B.V. All rights reserved.
stringent and difficult to satisfy requirements of many modern systems. Specifically, the systems exploiting mobile vision, imaging, and virtual or augmented reality, to a growing degree involve big instant data from multiple complex sensors or from other systems, and are required to provide continuous autonomous service in a long time. In consequence, they demand a guaranteed (ultra-)high performance and/or (ultra-)low energy consumption, while requiring a high reliability, safety and security. This special issue of Microprocessors and Microsystems (MICPRO), the Elsevier Embedded Hardware Design Journal, is devoted to the extended journal versions of selected papers from MECO’ 2016— the 5th Mediterranean Conference on Embedded Computing and ECYPS’ 2016—the 4th EUROMICRO/IEEE Workshop on Embedded and Cyber-Physical Systems. It addresses the applications, architectures, development methodology, embedded processing, sensing and actuating, as well as safety, security and reliability of the modern cyber-physical systems. The issue starts with two papers being extended versions of two invited MECO’ 2016/ ECYPS’ 2016 keynote presentations. The first paper, entitled Advanced Mobile and Wearable Systems, by ´ Lech Józwiak, has a survey character. It considers many aspects of CPS, as well as, of the embedded computing and design technologies for advanced CPS, when focusing on mobile and wearable systems. After an introduction to modern mobile CPS, the paper discusses different application fields of these systems having different specific requirements, and imposing various serious design issues and challenges. Subsequently, it discusses the embedded computing and design technologies needed to adequately address the issues and overcome the challenges. The second invited paper, entitled Cryptanalytic Attacks on Cyber-Physical Systems, by Martin Novotny, has also a review character and discusses vulnerability of various cyber-physical objects to certain cryptanalytic attacks. The issue contains a cluster of papers related to the very important aspects of CPS security, reliability and safety. The paper entitled Influence of Passive Hardware Redundancy on Differential Power Analysis Resistance of AES Cipher implemented in FPGA, by Vojtech Miskovsky et al., considers both the fault tolerance and cryptoanalytic attack resistance in combination. Specifically, it thoroughly discusses how the passive hardware redundancy methods affect the resistance against differential power analysis attacks and how the whole design can be modified to increase the attack resistance. Another paper: Embedded Context Aware Diagnosis for a UAV SoC Platform, by Catherine Dezan et al., is related to reliability and safety of autonomous unmanned aircraft vehicles (UAVs) that operate under uncertain environmental conditions and have
220
Editorial / Microprocessors and Microsystems 52 (2017) 219–220
to face unexpected obstacles, weather changes and sensor or hardware/software component failures. The paper considers fault diagnosis and recovery, and focuses on the health management of the system depending on the mission context. The paper entitled Adaptive ReRouting of Data Flows in Distributed Data Centers, by Dmitry Perepelkin et al., proposes a new mathematical model and an effective fast rerouting algorithm necessary to provide resiliency of the network infrastructure in distributed data centers served by different communication providers. Yet another paper: An Approach to Classification and Under-sampling of the Interfering Wireless Signals, by Andjela Draganic´ et al., is related to safety in the context of multi-standard wireless communication of CPS and proposes a procedure for classification of interfering signals that belong to different wireless standards, but operate in the same frequency band, as e.g. the Bluetooth and IEEE 802.11b standards. Finally, the paper entitled Time Synchronization for an Emulated CAN Device on a Multi-Processor System on Chip, by Gabriela Breaban et al., is devoted to an important problem of time synchronization of cyber-physical automotive applications implemented in a multi-processor system using controller area network (CAN) and discusses how multiple applications can safely share a CAN port, which can be on the local processor tile or on a remote tile. Another cluster of papers is related to vision and image processing in CPS using different image sensors. The paper entitled System-level Design Space Identification for Many-core Vision Processors, by Jones Yudi da Silva et al., discusses the development of a Many-Core Vision Processor architecture suitable for future smart cameras accounting for the whole design trajectory from the high-level application analysis down to the fine-grained operations and physical aspects. Another paper: Embedded Distributed Arithmetic Based Quaternions Multiplier Of Paraunitary Filter Bank For Lossless-To-Lossy Image Coding, by Nick Petrovsky et al., presents a systematic design of an integer-to-integer invertible multiplier using distributed arithmetic as a block of M-band linear phase paraunitary filter banks based on the quaternionic algebra for the lossy-to-lossless image coding. Yet another paper:
Localization Of Moving Edge with Sub-Pixel Accuracy in 1-D Images and its FPGA Implementation, by Miroslav Hagara et al., discusses image contour detection, and specifically, the localization of moving edges with very precise sub-pixel accuracy, and its practical FPGA implementation. Finally, the paper entitled Onboard FPGA-based Fast Estimation of Point Object Coordinates for Linear IR-sensor, by Valery Strotov et al., is related to processing of images from an onboard IR-sensor and describes an algorithm for fast estimation of point object coordinates, as well as, the algorithm implementation in the FPGA-based hardware. The final cluster of papers is related to system development for advanced cyber-physical applications. The paper entitled Criteria for Solar Car Optimized Route Estimation, by Harun Siljak et al., presents a novel route optimization scheme for solar vehicles based on solar irradiance and target distance. Another paper: Accommodating Larger Container Vessels using an Integrated Laser System for Approach and Berthing, by Marko Perkovicˇ et al., discusses the cyber-physical system design for an advanced ranging and docking of large container vessels, as well as, the initial results related to the observed docking of large container vessels. Guest Editors
Radovan Stojanovic´ ∗ University of Montenegro, Faculty of Electrical Engineering, Podgorica, Montenegro ´ Lech Józwiak Eindhoven University of Technology, Faculty of Electrical Engineering, Eindhoven, The Netherlands ∗ Corresponding author. ´ [email protected] (L. E-mail addresses: [email protected] (R. Stojanovic), ´ Józwiak)