Abstract
“Cyber-Physical Systems” (CPS) have emerged as the next technological revolution. These new systems are commonly supported by a collection of ad hoc connected devices which typically collaborate in order to control some physical processes. However, in recent years, many other applications based on the CPS paradigm have been reported. In particular, executing user-defined processes over a cyber-physical infrastructure is a very promising technology for the future. Therefore, in this paper, we propose a scheme which allows the creation of user-defined processes, their decomposition and translation into executable orders or code, and their execution using the locally available cyber-physical infrastructure, cloud services and/or other services offered by remote CPS through the Cyber-Physical Internet. The proposed solution also enables the execution of processes with a guaranteed QoS. Moreover, an experimental validation is provided in order to evaluate the proposed technology performance. In particular, it is proved that more than 95% of processes are correctly executed, and only in a 2% of cases the minimum cost execution is not selected.
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig1_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig2_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig3_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig4_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig5_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig6_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig7_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig8_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig9_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig10_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig11_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig12_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig13_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig14_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig15_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig16_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig17_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig18_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig19_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig20_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig21_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig22_HTML.jpg)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig23_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig24_HTML.gif)
![](http://media.springernature.com/m312/springer-static/image/art%3A10.1007%2Fs11227-018-2416-4/MediaObjects/11227_2018_2416_Fig25_HTML.gif)
Similar content being viewed by others
References
Abid H, Phuong LTT, Wang J, Lee S, Qaisar S (2011, October) V-Cloud: vehicular cyber-physical systems and cloud computing. In: Proceedings of the 4th International Symposium on Applied Sciences in Biomedical and Communication Technologies. ACM, p 165
Al Ridhawi Y, Karmouch A (2015) Decentralized plan-free semantic-based service composition in mobile networks. IEEE Trans Serv Comput 8(1):17–31
Alcarria R, Bordel B, Manso MÁ, Iturrioz T, Pérez M (2018, January) Analyzing UAV-based remote sensing and WSN support for data fusion. In: International Conference on Information Theoretic Security. Springer, Cham, pp 756–766
Appel S, Frischbier S, Freudenreich T, Buchmann A (2013) Event stream processing units in business processes. In: Daniel F, Wang J, Weber B (eds) Business process management. Lecture notes in computer science, vol 8094. Springer, Berlin, Heidelberg
Bakakeu J, Schäfer F, Bauer J, Michl M, Franke J (2017) Building cyber-physical systems—a smart building use case. In: Song H, Srinivasan R, Sookoor T, Jeschke S (eds) Smart cities: foundations, principles, and applications. Wiley, New Jersey, USA, pp 605–639
Boekhold M, Karkowski I, Corporaal H, Cilio A (1999, March) A programmable ANSI C transformation engine. In: International Conference on Compiler Construction. Springer, Berlin, pp 292–295
Bonzini P, Pozzi L (2006, October) Code transformation strategies for extensible embedded processors. In: Proceedings of the 2006 International Conference on Compilers, Architecture and Synthesis for Embedded Systems. ACM, pp 242–252
Bordel Sánchez B, Alcarria R, Martín D, Robles T (2015) TF4SM: a framework for developing traceability solutions in small manufacturing companies. Sensors 15(11):29478–29510
Bordel B, Alcarria R, Martín D, Robles T, de Rivera DS (2017) Self-configuration in humanized cyber-physical systems. J Ambient Intell Humaniz Comput 8(4):485–496
Bordel B, Alcarria R, Robles T, Martín D (2017) Cyber-physical systems: extending pervasive sensing from control theory to the Internet of Things. Pervasive Mob Comput 40:156–184
Childers B, Davidson JW, Soffa ML (2003, April) Continuous compilation: a new approach to aggressive and adaptive code transformation. In: Proceedings International Parallel and Distributed Processing Symposium, 2003. IEEE, p 10
Choi I, Song M, Park C, Park N (2003) An XML-based process definition language for integrated process management. Comput Ind 50(1):85–102
Cirani S, Picone M, Gonizzi P, Veltri L, Ferrari G (2015) Iot-oas: an oauth-based authorization service architecture for secure services in iot scenarios. IEEE Sens J 15(2):1224–1234
Clauß S, Schulte A (2014, October) Task delegation in an agent supervisory control relationship capability awareness in a cognitive agent. In: 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC). IEEE, pp 825–830
Conti M, Das SK, Bisdikian C, Kumar M, Ni LM, Passarella A, Roussos G, Tröster G, Tsudik G, Zambonelli F (2012) Looking ahead in pervasive computing: challenges and opportunities in the era of cyber-physical convergence. Pervasive Mob Comput 8(1):2–21
Czarnecki K, Helsen S (2003, October) Classification of model transformation approaches. In: Proceedings of the 2nd OOPSLA Workshop on Generative Techniques in the Context of the Model Driven Architecture, vol 45, no 3, pp 1–17
Delsing J, Carlsson O, Arrigucci F, Bangemann T, Hübner C, Colombo AW, Nappey P, Bony B, Karnouskos S, Nessaether J, Kyusakov R (2014) Migration of SCADA/DCS systems to the SOA cloud. In: Colombo AW, Bangemann T, Karnouskos S, Delsing J, Stluka P, Harrison R, Jammes F, Lastra JL (eds) Industrial cloud-based cyber-physical systems. Springer, Cham, pp 111–135
Derler P, Lee EA, Tripakis S, Törngren M (2013, April) Cyber-physical system design contracts. In: Proceedings of the ACM/IEEE 4th International Conference on Cyber-Physical Systems. ACM, pp 109–118
Duarte FJ, Machado RJ, Fernandes JM (2012, January) BIM: a methodology to transform business processes into software systems. In: International Conference on Software Quality. Springer, Berlin, pp 39–58
Griffiths N (2005, July) Task delegation using experience-based multi-dimensional trust. In: Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems. ACM, pp 489–496
Hat R (2012) libvirt: the virtualization API. http://libvirt.org
Kane M, Zhu D, Hirose M, Dong X, Winter B, Häckell M, Lynch JP, Wang Y, Swartz A (2014, April) Development of an extensible dual-core wireless sensing node for cyber-physical systems. In: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring. International Society for Optics and Photonics, pp 90611U–90611U
Kim J, Lakshmanan K, Rajkumar RR (2012, April) Rhythmic tasks: a new task model with continually varying periods for cyber-physical systems. In: Proceedings of the 2012 IEEE/ACM Third International Conference on Cyber-Physical Systems. IEEE Computer Society, pp 55–64
Kivity A, Kamay Y, Laor D, Lublin U, Liguori A (2007, July) kvm: the Linux virtual machine monitor. In: Proceedings of the Linux Symposium, vol 1, pp 225–230
Koubaa A, Andersson B (2009) A vision of Cyber-Physical Internet. In: Proceedings of the Workshop of Real-Time Networks (RTN 2009), Satellite Workshop to (ECRTS 2009)
Kukla T, Kiss T, Terstyanszky G, Kacsuk P (2008, November) A general and scalable solution for heterogeneous workflow invocation and nesting. In: Third Workshop on Workflows in Support of Large-Scale Science, 2008. WORKS 2008. IEEE, pp 1–8
Kyusakov R, Eliasson J, Delsing J, van Deventer J, Gustafsson J (2013) Integration of wireless sensor and actuator nodes with IT infrastructure using service-oriented architecture. IEEE Trans Industr Inf 9(1):43–51
Lee EA (2006, October) Cyber-physical systems-are computing foundations adequate. In: Position Paper for NSF Workshop on Cyber-Physical Systems: Research Motivation, Techniques and Roadmap, vol 2
Lin KJ, Panahi M (2010, July) A real-time service-oriented framework to support sustainable cyber-physical systems. In: 2010 8th IEEE International Conference on Industrial Informatics. IEEE, pp 15–21
Liu L, Zhao S, Yu Z, Dai H (2015) A big data inspired chaotic solution for fuzzy feedback linearization model in cyber-physical systems. Ad Hoc Netw 35:97–104
Maier S, Herrscher D, Rothermel K (2007) Experiences with node virtualization for scalable network emulation. Comput Commun 30(5):943–956
Marrella A, Mecella M (2017) Adaptive process management in cyber-physical domains. In: Advances in intelligent process-aware information systems. Springer, Berlin, pp 15–48
Moldovan D, Copil G, Dustdar S (2017) Elastic systems: towards cyber-physical ecosystems of people, processes, and things. Comput Stand Interfaces 57:76–82
Morales A, Alcarria R, Martin D, Robles T (2014) Enhancing evacuation plans with a situation awareness system based on end-user knowledge provision. Sensors 14(6):11153–11178
Muccini H, Sharaf M, Weyns D (2016, May) Self-adaptation for cyber-physical systems: a systematic literature review. In: Proceedings of the 11th International Workshop on Software Engineering for Adaptive and Self-Managing Systems. ACM, pp 75–81
Mueller M (2015) Reducing hazards in multiagent task delegation. In: Thomas O, Teuteberg F (eds) 12th International Conference on Wirtschaftsinformatik. Association for Information Systems (AIS), Illinois, pp 1679–1693
National institute of Standards and Technology (NIST) (June 2014) DRAFT framework for cyber-physical systems https://s3.amazonaws.com/nist-sgcps/cpspwg/pwgglobal/CPS_PWG_Draft_Framework_for_Cyber-Physical_Systems_Release_0_8_September_2015.pdf. Accessed on 19 Aug 2016
Perera C, Zaslavsky A, Christen P, Georgakopoulos D (2014) Sensing as a service model for smart cities supported by internet of things. Trans Emerg Telecommun Technol 25(1):81–93
Qiao L, Kao S, Zhang Y (2011) Manufacturing process modelling using process specification language. Int J Adv Manuf Technol 55(5–8):549–563
Rajkumar RR, Lee I, Sha L, Stankovic J (2010, June) Cyber-physical systems: the next computing revolution. In: Proceedings of the 47th Design Automation Conference. ACM, pp 731–736
Reuillon R, Chuffart F, Leclaire M, Faure T, Dumoulin N, Hill D (2010, June) Declarative task delegation in OpenMOLE. In: 2010 International Conference on High Performance Computing and Simulation (HPCS). IEEE, pp 55–62
Richardson L, Ruby S (2008) RESTful web services. O’Reilly Media Inc., Newton
Robles TS, Alcarria R, Morales A, Martín D (2015) Supporting variability dependencies for rule-based service compositions in prosumer environments. Int J Web Grid Serv 11(1):57–77
Santos N, Duarte FJ, Machado RJ, Fernandes JM (2013, January) A transformation of business process models into software-executable models using mda. In: International Conference on Software Quality. Springer, Berlin, pp 147–167
Schunselaar DM, Verbeek HMW, Reijers HA, van der Aalst WM (2014, September) YAWL in the cloud: supporting process sharing and variability. In: International Conference on Business Process Management. Springer, Cham, pp 367–379
Sefraoui O, Aissaoui M, Eleuldj M (2012) OpenStack: toward an open-source solution for cloud computing. Int J Comput Appl 55(3):38–42
Seiger R, Huber S, Schlegel T (2018) Toward an execution system for self-healing workflows in cyber-physical systems. Softw Syst Model 17(2):551–572
Sikora A (2005) IEEE802. 15.4 and ZigBe for sensor and actuator networks. In: Embedded World Conference, pp 189–197
Simpson B, Toussi F (2004) Hsqldb user guide. http://www.hsqldb.org/doc/1.8/guide/guide.html. Accessed 17 May 2018
Sungur CT, Spiess P, Oertel N, Kopp O (2013, July) Extending bpmn for wireless sensor networks. In: 2013 IEEE 15th Conference on Business Informatics. IEEE, pp 109–116
Sztipanovits J, Koutsoukos X, Karsai G, Kottenstette N, Antsaklis P, Gupta V, Goodwine B, Baras J, Wang S (2012) Toward a science of cyber-physical system integration. Proc IEEE 100(1):29–44
Tamarit S, Marino J, Vigueras G, Carro M (2016, March) Towards a semantics-aware code transformation toolchain for heterogeneous systems. In: First Workshop on Program Transformation for Programmability in Heterogeneous Architectures (PROHA’16)
Tan Y, Goddard S, Perez LC (2008) A prototype architecture for cyber-physical systems. ACM Sigbed Rev 5(1):26
Tao F, Cheng Y, Zhang L, Nee AY (2017) Advanced manufacturing systems: socialization characteristics and trends. J Intell Manuf 28(5):1079–1094
Tranquillini S, Spieß P, Daniel F, Karnouskos S, Casati F, Oertel N, Mottola L, Oppermann FJ, Picco GP, Römer K, Voigt T (2012, September) Process-based design and integration of wireless sensor network applications. In: International Conference on Business Process Management. Springer, Berlin, pp 134–149
Van Der Aalst WM, Ter Hofstede AH (2005) YAWL: yet another workflow language. Inf Syst 30(4):245–275
Van Der Aalst WM, Aldred L, Dumas M, ter Hofstede AH (2004, June) Design and implementation of the YAWL system. In: International Conference on Advanced Information Systems Engineering. Springer, Berlin, pp 142–159
Wan J, Chen M, Xia F, Di L, Zhou K (2013) From machine-to-machine communications towards cyber-physical systems. Comput Sci Inf Syst 10(3):1105–1128
Wan J, Zhang D, Zhao S, Yang LT, Lloret J (2014) Context-aware vehicular cyber-physical systems with cloud support: architecture, challenges, and solutions. IEEE Commun Mag 52(8):106–113
Wu J, Stojmenovic I (2004) Ad hoc networks. Computer IEEE Comput Soc 37(2):29–31
Wu FJ, Kao YF, Tseng YC (2011) From wireless sensor networks towards cyber physical systems. Pervasive Mob Comput 7(4):397–413
Xia F, Ma L, Dong J, Sun Y (2008, July) Network QoS management in cyber-physical systems. In: International Conference on Embedded Software and Systems Symposia, 2008. ICESS Symposia’08. IEEE, pp 302–307
Yue X, Cai H, Yan H, Zou C, Zhou K (2015) Cloud-assisted industrial cyber-physical systems: an insight. Microprocess Microsyst 39(8):1262–1270
Zeng Y, Li D, Vasilakos AV (2013) Real-time data report and task execution in wireless sensor and actuator networks using self-aware mobile actuators. Comput Commun 36(9):988–997
Zhang J, Lin Y, Gray J (2005) Generic and domain-specific model refactoring using a model transformation engine. In: Beydeda S, Book M, Gruhn V (eds) Model-driven software development. Springer, Berlin, pp 199–217
Zhang F, Szwaykowska K, Wolf W, Mooney V (2008, November) Task scheduling for control oriented requirements for cyber-physical systems. In: Real-Time Systems Symposium, 2008. IEEE, pp 47–56
Zhang W, Wen Y, Wu DO (2015) Collaborative task execution in mobile cloud computing under a stochastic wireless channel. IEEE Trans Wireless Commun 14(1):81–93
Funding
The research leading to these results has received funding from the Ministry of Economy and Competitiveness through SEMOLA Project (TEC2015-68284-R) and from the Autonomous Region of Madrid through MOSI-AGIL-CM Project (Grant P2013/ICE-3019, co-funded by EU Structural Funds FSE and FEDER). Borja Bordel has received funding from the Ministry of Education through the FPU Program (Grant No. FPU15/03977).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Bordel, B., Alcarria, R., de Rivera, D.S. et al. Process execution in Cyber-Physical Systems using cloud and Cyber-Physical Internet services. J Supercomput 74, 4127–4169 (2018). https://doi.org/10.1007/s11227-018-2416-4
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11227-018-2416-4