Towards a Generic Architecture for Building Modular CPS as Applied to Mobile Robotics

This paper presents a generic architecture for the design of Cyber-Physical Systems (CPS) based on inexpensive and easily available hardware and open source software components. . This architecture provides a framework aimed at building CPS in a robust, flexible and modular way. The presented architecture intends to ease the construction of this kind of systems together with its evolution and management. The potential of the proposed architecture is illustrated by means of a case study consisting of a mobile robotics application built with low cost hardware modules modules. There is a large community of users for these components and plenty of related technical information is available. As a consequence, these inexpensive components were found suitable for being used at different application domains, including research and education.

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A Case Study of FMVEA and CHASSIS as Safety and Security Co-Analysis Method for Automotive Cyber-physical Systems

Proceedings of the 1st ACM Workshop on Cyber-Physical System Security - CPSS '15 ◽

10.1145/2732198.2732204 ◽

2015 ◽

Cited By ~ 19

Author(s):

Christoph Schmittner ◽

Zhendong Ma ◽

Erwin Schoitsch ◽

Thomas Gruber

Keyword(s):

Cyber Physical Systems ◽

Analysis Method ◽

Physical Systems

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Developing open source cyber-physical systems for service-oriented architectures using OPC UA

2017 IEEE 15th International Conference on Industrial Informatics (INDIN) ◽

10.1109/indin.2017.8104751 ◽

2017 ◽

Cited By ~ 6

Author(s):

Marcel Muller ◽

Elmar Wings ◽

Lars Bergmann

Keyword(s):

Open Source ◽

Cyber Physical Systems ◽

Service Oriented Architectures ◽

Physical Systems ◽

Service Oriented

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Simultaneous Trajectory Planning and Tracking Using an MPC Method for Cyber-Physical Systems: A Case Study of Obstacle Avoidance for an Intelligent Vehicle

IEEE Transactions on Industrial Informatics ◽

10.1109/tii.2018.2815531 ◽

2018 ◽

Vol 14 (9) ◽

pp. 4273-4283 ◽

Cited By ~ 50

Author(s):

Hongyan Guo ◽

Chen Shen ◽

Hui Zhang ◽

Hong Chen ◽

Rui Jia

Keyword(s):

Obstacle Avoidance ◽

Trajectory Planning ◽

Cyber Physical Systems ◽

Intelligent Vehicle ◽

Physical Systems

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Towards UML modeling of cyber-physical systems: A case study for gas distribution

IEEE 8th International Symposium on Intelligent Systems and Informatics ◽

10.1109/sisy.2010.5647314 ◽

2010 ◽

Cited By ~ 7

Author(s):

Gabriela Magureanu ◽

Madalin Gavrilescu ◽

Dan Pescaru ◽

Alex Doboli

Keyword(s):

Cyber Physical Systems ◽

Gas Distribution ◽

Physical Systems ◽

Uml Modeling

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Empirical Assessment of Cyber-physical Systems Influence on Industrial Service Sector: The Manufacturing Industry as a Case Study

Human Systems Engineering and Design II - Advances in Intelligent Systems and Computing ◽

10.1007/978-3-030-27928-8_157 ◽

2019 ◽

pp. 1058-1065 ◽

Cited By ~ 1

Author(s):

Ifetayo Oluwafemi ◽

Timothy Laseinde

Keyword(s):

Manufacturing Industry ◽

Service Sector ◽

Cyber Physical Systems ◽

Physical Systems ◽

Empirical Assessment ◽

Industrial Service

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Generating metamorphic relations for cyber-physical systems with genetic programming: an industrial case study

10.1145/3468264.3473920 ◽

2021 ◽

Author(s):

Jon Ayerdi ◽

Valerio Terragni ◽

Aitor Arrieta ◽

Paolo Tonella ◽

Goiuria Sagardui ◽

...

Keyword(s):

Genetic Programming ◽

Cyber Physical Systems ◽

Industrial Case Study ◽

Physical Systems

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Security Tradeoffs in Cyber Physical Systems: A Case Study Survey on Implantable Medical Devices

IEEE Access ◽

10.1109/access.2016.2521727 ◽

2016 ◽

Vol 4 ◽

pp. 959-979 ◽

Cited By ~ 56

Author(s):

Riham Altawy ◽

Amr M. Youssef

Keyword(s):

Medical Devices ◽

Cyber Physical Systems ◽

Implantable Medical Devices ◽

Physical Systems

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ROBIN: An open-source middleware for plug‘n’produce of Cyber-Physical Systems

International Journal of Advanced Robotic Systems ◽

10.1177/1729881420910316 ◽

2020 ◽

Vol 17 (3) ◽

pp. 172988142091031

Author(s):

Rafael Arrais ◽

Paulo Ribeiro ◽

Henrique Domingos ◽

Germano Veiga

Keyword(s):

Open Source ◽

Industrial Revolution ◽

Cyber Physical Systems ◽

Industrial Applications ◽

Mobile Manipulator ◽

Battery Management ◽

Efficient Manner ◽

Physical Systems ◽

Data Interchange ◽

Automation Equipment

Motivated by the Fourth Industrial Revolution, there is an ever-increasing need to integrated Cyber-Physical Systems in industrial production environments. To address the demand for flexible robotics in contemporary industrial environments and the necessity to integrate robots and automation equipment in an efficient manner, an effective, bidirectional, reliable and structured data interchange mechanism is required. As an answer to these requirements, this article presents ROBIN, an open-source middleware for achieving interoperability between the Robot Operating System and CODESYS, a softPLC that can run on embedded devices and that supports a variety of fieldbuses and industrial network protocols. The referred middleware was successfully applied and tested in various industrial applications such as battery management systems, motion, robotic manipulator and safety hardware control, and horizontal integration between a mobile manipulator and a conveyor system.

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