A Novel Approach for Deploying Minimum Sensors in Smart Buildings

Buildings, viewed as cyber-physical systems, become smart by deploying Building Management Systems (BMS). They should be aware about the state and environment of the building. This is achieved by developing a sensing system that senses different interesting factors of the building, called as “facets of sensing.” Depending on the application, different facets need to be sensed at various locations. Existing approaches for sensing these facets consist of deploying sensors at all the places so they can be sensed directly. But installing numerous sensors often aggravate the issues of user inconvenience, cost of installation and maintenance, and generation of e-waste. This article proposes how intelligently using the existing information can help to estimate the facets in cyber-physical systems like buildings, thereby reducing the sensors to be deployed. In this article, an optimization framework has been developed, which optimally deploys sensors in a building such that it satisfies BMS requirements with minimum number of sensors. The proposed solution is applied to real-world scenarios with cyber-physical systems. The results indicate that the proposed optimization framework is able to reduce the number of sensors by 59% and 49% when compared to the baseline and heuristic approach, respectively.

The Lord of the Ring Road: A Review and Evaluation of Autonomous Control Policies for Traffic in a Ring Road

This study focuses on the comprehensive investigation of stop-and-go waves appearing in closed-circuit ring road traffic wherein we evaluate various longitudinal dynamical models for vehicles. It is known that the behavior of human-driven vehicles, with other traffic elements such as density held constant, could stimulate stop-and-go waves, which do not dissipate on the circuit ring road. Stop-and-go waves can be dissipated by adding automated vehicles (AVs) to the ring. Thorough investigations of the performance of AV longitudinal control algorithms were carried out in Flow, which is an integrated platform for reinforcement learning on traffic control. Ten AV algorithms presented in the literature are evaluated. For each AV algorithm, experiments are carried out by varying distributions and penetration rates of AVs. Two different distributions of AVs are studied. For the first distribution scenario, AVs are placed consecutively. Penetration rates are varied from 1 AV (5%) to all AVs (100%). For the second distribution scenario, AVs are placed with even distribution of human-driven vehicles in between any two AVs. In this scenario, penetration rates are varied from 2 AVs (10%) to 11 AVs (50%). Multiple runs (10 runs) are simulated to average out the randomness in the results. From more than 3,000 simulation experiments, we investigated how AV algorithms perform differently with varying distributions and penetration rates while all AV algorithms remained fixed under all distributions and penetration rates. Time to stabilize, maximum headway, vehicle miles traveled, and fuel economy are used to evaluate their performance. Using these metrics, we find that the traffic condition improvement is not necessarily dependent on the distribution for most of the AV controllers, particularly when no cooperation among AVs is considered. Traffic condition is generally improved with a higher AV penetration rate with only one of the AV algorithms showing a contrary trend. Among all AV algorithms in this study, the reinforcement learning controller shows the most consistent improvement under all distributions and penetration rates.

Continuous Operator Authentication for Teleoperated Systems Using Hidden Markov Models

In this article, we present a novel approach for continuous operator authentication in teleoperated robotic processes based on Hidden Markov Models (HMM). While HMMs were originally developed and widely used in speech recognition, they have shown great performance in human motion and activity modeling. We make an analogy between human language and teleoperated robotic processes (i.e., words are analogous to a teleoperator’s gestures, sentences are analogous to the entire teleoperated task or process) and implement HMMs to model the teleoperated task. To test the continuous authentication performance of the proposed method, we conducted two sets of analyses. We built a virtual reality (VR) experimental environment using a commodity VR headset (HTC Vive) and haptic feedback enabled controller (Sensable PHANToM Omni) to simulate a real teleoperated task. An experimental study with 10 subjects was then conducted. We also performed simulated continuous operator authentication by using the JHU-ISI Gesture and Skill Assessment Working Set (JIGSAWS). The performance of the model was evaluated based on the continuous (real-time) operator authentication accuracy as well as resistance to a simulated impersonation attack. The results suggest that the proposed method is able to achieve 70% (VR experiment) and 81% (JIGSAWS dataset) continuous classification accuracy with as short as a 1-second sample window. It is also capable of detecting an impersonation attack in real-time.

Tool Integration for Automated Synthesis of Distributed Embedded Controllers

Controller design and their software implementations are usually done in isolated design spaces using respective COTS design tools. However, this separation of concerns can lead to long debugging and integration phases. This is because assumptions made about the implementation platform during the design phase—e.g., related to timing—might not hold in practice, thereby leading to unacceptable control performance. In order to address this, several control/architecture co-design techniques have been proposed in the literature. However, their adoption in practice has been hampered by the lack of design flows using commercial tools. To the best of our knowledge, this is the first article that implements such a co-design method using commercially available design tools in an automotive setting, with the aim of minimally disrupting existing design flows practiced in the industry. The goal of such co-design is to jointly determine controller and platform parameters in order to avoid any design-implementation gap , thereby minimizing implementation time testing and debugging. Our setting involves distributed implementations of control algorithms on automotive electronic control units ( ECUs ) communicating via a FlexRay bus. The co-design and the associated toolchain Co-Flex jointly determines controller and FlexRay parameters (that impact signal delays) in order to optimize specified design metrics. Co-Flex seamlessly integrates the modeling and analysis of control systems in MATLAB/Simulink with platform modeling and configuration in SIMTOOLS/SIMTARGET that is used for configuring FlexRay bus parameters. It automates the generation of multiple Pareto-optimal design options with respect to the quality of control and the resource usage, that an engineer can choose from. In this article, we outline a step-by-step software development process based on Co-Flex tools for distributed control applications. While our exposition is automotive specific, this design flow can easily be extended to other domains.

IoTranx: Transactions for Safer Smart Spaces

Smart spaces such as smart homes deliver digital services to optimize space use and enhance user experience. They are composed of an Internet of Things (IoT), people, and physical content. They differ from traditional computer systems in that their cyber-physical nature ties intimately with the users and the built environment. The impact of ill-programmed applications in such spaces goes beyond loss of data or a computer crash, risking potentially physical harm to the space and its users. Ensuring smart space safety is therefore critically important to successfully deliver intimate and convenient services surrounding our daily lives. By modeling smart space as a highly dynamic database, we present IoT Transactions, an analogy to database transactions, as an abstraction for programming and executing the services as the handling of the devices in smart space. Unlike traditional database management systems that take a “clear room approach,” smart spaces take a “dirty room approach” where imperfection and unattainability of full control and guarantees are the new normal. We identify Atomicity, Isolation, Integrity and Durability (AI 2 D) as the set of properties necessary to define the safe runtime behavior for IoT transactions for maintaining “permissible device settings” of execution and to avoid or detect and resolve “impermissible settings.” Furthermore, we introduce a lock protocol, utilizing variations of lock concepts, that enforces AI 2 D safety properties during transaction processing. We show a brief proof of the protocol correctness and a detailed analytical model to evaluate its performance.

Roadrunner+: An Autonomous Intersection Management Cooperating with Connected Autonomous Vehicles and Pedestrians with Spillback Considered

The recent emergence of Connected Autonomous Vehicles (CAVs) enables the Autonomous Intersection Management (AIM) system, replacing traffic signals and human driving operations for improved safety and road efficiency. When CAVs approach an intersection, AIM schedules their intersection usage in a collision-free manner while minimizing their waiting times. In practice, however, there are pedestrian road-crossing requests and spillback problems, a blockage caused by the congestion of the downstream intersection when the traffic load exceeds the road capacity. As a result, collisions occur when CAVs ignore pedestrians or are forced to the congested road. In this article, we present a cooperative AIM system, named Roadrunner+ , which simultaneously considers CAVs, pedestrians, and upstream/downstream intersections for spillback handling, collision avoidance, and efficient CAV controls. The performance of Roadrunner+ is evaluated with the SUMO microscopic simulator. Our experimental results show that Roadrunner+ has 15.16% higher throughput than other AIM systems and 102.53% higher throughput than traditional traffic signals. Roadrunner+ also reduces 75.62% traveling delay compared to other AIM systems. Moreover, the results show that CAVs in Roadrunner+ save up to 7.64% in fuel consumption, and all the collisions caused by spillback are prevented in Roadrunner+.

Detection and Mitigation of Sensor and CAN Bus Attacks in Vehicle Anti-Lock Braking Systems

For a modern vehicle, if the sensor in a vehicle anti-lock braking system (ABS) or controller area network (CAN) bus is attacked during a brake process, the vehicle will lose driving direction control and the driver’s life will be highly threatened. However, current methods for detecting attacks are not sufficiently accurate, and no method can provide attack mitigation. To ensure vehicle ABS security, we propose an attack detection method to accurately detect both sensor attack (SA) and CAN bus attack in a vehicle ABS, and an attack mitigation strategy to mitigate their negative effects on the vehicle ABS. In our attack detection method, we build a vehicle state space equation that considers the real-time road friction coefficient to predict vehicle states (i.e., wheel speed and longitudinal brake force) with their previous values. Based on sets of historical measured vehicle states, we develop a search algorithm to find out attack changes (vehicle state changes because of attack) by minimizing errors between the predicted vehicle states and the measured vehicle states. In our attack mitigation strategy, attack changes are subtracted from the measured vehicle states to generate correct vehicle states for a vehicle ABS. We conducted the first real SA experiments to show how a magnet affects sensor readings. Our simulation results demonstrate that our attack detection method can detect SA and CAN bus attack more accurately compared with existing methods, and also that our attack mitigation strategy almost eliminates the attack’s effects on a vehicle ABS.

Real-Time Cooling Power Attribution for Co-Located Data Center Rooms with Distinct Temperatures and Humidities

At present, a co-location data center often applies an identical and low temperature setpoint for its all server rooms. Although increasing the temperature setpoint is a rule-of-thumb approach to reducing the cooling energy usage, the tenants may have different mentalities and technical constraints in accepting higher temperature setpoints. Thus, supporting distinct temperature setpoints is desirable for a co-location data center in pursuing higher energy efficiency. This calls for a new cooling power attribution scheme to address the inter-room heat transfers that can be up to 9% of server load as shown in our real experiments. This article describes our approaches to estimating the inter-room heat transfers, using the estimates to rectify the metered power usages of the rooms’ air handling units, and fairly attributing the power usage of the shared cooling infrastructure (i.e., chiller and cooling tower) to server rooms by following the Shapley value principle. Extensive numeric experiments based on a widely accepted cooling system model are conducted to evaluate the effectiveness of the proposed cooling power attribution scheme. A case study suggests that the proposed scheme incentivizes rational tenants to adopt their highest acceptable temperature setpoints under a non-cooperative game setting. Further analysis considering distinct relative humidity setpoints shows that our proposed scheme also properly and inherently addresses the attribution of humidity control power.

The Wireless Control Bus: Enabling Efficient Multi-Hop Event-Triggered Control with Concurrent Transmissions

Event-triggered control ( ETC ) holds the potential to significantly improve the efficiency of wireless networked control systems. Unfortunately, its real-world impact has hitherto been hampered by the lack of a network stack able to transfer its benefits from theory to practice specifically by supporting the latency and reliability requirements of the aperiodic communication ETC induces. This is precisely the contribution of this article. Our Wireless Control Bus ( WCB ) exploits carefully orchestrated network-wide floods of concurrent transmissions to minimize overhead during quiescent, steady-state periods, and ensures timely and reliable collection of sensor readings and dissemination of actuation commands when an ETC triggering condition is violated. Using a cyber-physical testbed emulating a water distribution system controlled over a real-world multi-hop wireless network, we show that ETC over WCB achieves the same quality of periodic control at a fraction of the energy costs, therefore unleashing and concretely demonstrating its full potential for the first time.

Dynamic Bicycle Dispatching of Dockless Public Bicycle-sharing Systems Using Multi-objective Reinforcement Learning

As a new generation of Public Bicycle-sharing Systems (PBS), the Dockless PBS (DL-PBS) is an important application of cyber-physical systems and intelligent transportation. How to use artificial intelligence to provide efficient bicycle dispatching solutions based on dynamic bicycle rental demand is an essential issue for DL-PBS. In this article, we propose MORL-BD, a dynamic bicycle dispatching algorithm based on multi-objective reinforcement learning to provide the optimal bicycle dispatching solution for DL-PBS. We model the DL-PBS system from the perspective of cyber-physical systems and use deep learning to predict the layout of bicycle parking spots and the dynamic demand of bicycle dispatching. We define the multi-route bicycle dispatching problem as a multi-objective optimization problem by considering the optimization objectives of dispatching costs, dispatch truck's initial load, workload balance among the trucks, and the dynamic balance of bicycle supply and demand. On this basis, the collaborative multi-route bicycle dispatching problem among multiple dispatch trucks is modeled as a multi-agent and multi-objective reinforcement learning model. All dispatch paths between parking spots are defined as state spaces, and the reciprocal of dispatching costs is defined as a reward. Each dispatch truck is equipped with an agent to learn the optimal dispatch path in the dynamic DL-PBS network. We create an elite list to store the Pareto optimal solutions of bicycle dispatch paths found in each action, and finally get the Pareto frontier. Experimental results on the actual DL-PBS show that compared with existing methods, MORL-BD can find a higher quality Pareto frontier with less execution time.