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Lectures on Runtime Verification pp 135–175Cite as

Specification-Based Monitoring of Cyber-Physical Systems: A Survey on Theory, Tools and Applications

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Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 10457))

Abstract

The term Cyber-Physical Systems (CPS) typically refers to engineered, physical and biological systems monitored and/or controlled by an embedded computational core. The behaviour of a CPS over time is generally characterised by the evolution of physical quantities, and discrete software and hardware states. In general, these can be mathematically modelled by the evolution of continuous state variables for the physical components interleaved with discrete events. Despite large effort and progress in the exhaustive verification of such hybrid systems, the complexity of CPS models limits formal verification of safety of their behaviour only to small instances. An alternative approach, closer to the practice of simulation and testing, is to monitor and to predict CPS behaviours at simulation-time or at runtime. In this chapter, we summarise the state-of-the-art techniques for qualitative and quantitative monitoring of CPS behaviours. We present an overview of some of the important applications and, finally, we describe the tools supporting CPS monitoring and compare their main features.

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Notes

  1. 1.

    Variants of until may differ on whether \(\varphi _2\) is required to occur or whether \(\varphi _1\) can cease to hold at the moment \(\varphi _2\) starts or only after that.

  2. 2.

    We restrict our argument to the future operators for the sake of simplicity – the same reasoning can be applied to the past operators.

  3. 3.

    https://www.edx.org/course/cyber-physical-systems-uc-berkeleyx-eecs149-1x.

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Acknowledgment

E. Bartocci and D. Ničković acknowledge the partial support of the EU ICT COST Action IC1402 on Runtime Verification beyond Monitoring (ARVI) and of the HARMONIA (845631) project, funded by a national Austrian grant from Austrian FFG under the program IKT der Zukunft. E. Bartocci acknowledges the partial support of the Austrian National Research Network S 11405-N23 (RiSE/SHiNE) of the Austrian Science Fund (FWF). G. Fainekos acknowledges the support of the NSF CAREER award 1350420.

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Authors and Affiliations

  1. Technische Universität Wien, Vienna, Austria

    Ezio Bartocci

  2. University of Southern California, Los Angeles, USA

    Jyotirmoy Deshmukh

  3. University of California at Berkeley, Berkeley, USA

    Alexandre Donzé

  4. Arizona State University, Tempe, USA

    Georgios Fainekos

  5. VERIMAG, CNRS and University of Grenoble-Alpes (UGA), Saint Martin d’Hères, France

    Oded Maler

  6. AIT Austrian Institute of Technology GmbH, Vienna, Austria

    Dejan Ničković

  7. University of Colorado, Boulder, USA

    Sriram Sankaranarayanan

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    Ezio Bartocci

  2. Université Grenoble Alpes, Inria, Laboratoire d’Informatique de Grenoble, Grenoble, France

    Yliès Falcone

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Bartocci, E. et al. (2018). Specification-Based Monitoring of Cyber-Physical Systems: A Survey on Theory, Tools and Applications. In: Bartocci, E., Falcone, Y. (eds) Lectures on Runtime Verification. Lecture Notes in Computer Science(), vol 10457. Springer, Cham. https://doi.org/10.1007/978-3-319-75632-5_5

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