Skip to main content

Advertisement

SpringerLink
Log in

SD-CPS: software-defined cyber-physical systems. Taming the challenges of CPS with workflows at the edge

  • Published:
Cluster Computing Aims and scope Submit manuscript

Abstract

A cyber-physical system (CPS) is a smart mechanical environment, developed by an amalgamation of computation, networking, and physical dimensions. Each CPS consists of a network of devices, often limited in computing, storage, or bandwidth resources. Moreover, the frequent small-scale communications between the various counterparts of CPS require data and computation of CPS to be deployed close to each other, with the ability to support micro-executions. Due to these operational requirements, CPS faces several inherent challenges, uncommon to a traditional computational environment. In this paper, we describe software-defined cyber-physical systems (SD-CPS), a CPS framework built by extending and adapting the design principles of software-defined networking (SDN) into CPS. We realize the support for CPS operation as a workflow of microservices, possibly in continuous or cyclic execution. SD-CPS coordinates each CPS execution step, performed by a microservice, through an extended SDN controller architecture. By creating, placing, deploying, migrating, and managing the computation processes of CPS as service workflows at the edge, SD-CPS orchestrates the entire lifecycle of the CPS effectively and efficiently. SD-CPS thus addresses the general challenges of CPS, concerning modeling, development, performance, management, communication and coordination, scalability, and fault-tolerance, through its software-defined approach. Our evaluations highlight the efficiency of the SD-CPS framework and the scalability of its SDN controller to manage the complex CPS environments.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12

Similar content being viewed by others

References

  1. Akyildiz, I.F., Lee, A., Wang, P., Luo, M., Chou, W.: A roadmap for traffic engineering in sdn-openflow networks. Comput. Netw. 71, 1–30 (2014)

    Article  Google Scholar 

  2. Al-Ayyoub, M., Jararweh, Y., Benkhelifa, E., Vouk, M., Rindos, A., et al.: Sdsecurity: a software defined security experimental framework. In: 2015 IEEE International Conference on Communication Workshop (ICCW), pp. 1871–1876. IEEE (2015)

  3. Alheeti, K.M.A., Gruebler, A., McDonald-Maier, K.D., Fernando, A.: Prediction of dos attacks in external communication for self-driving vehicles using a fuzzy petri net model. In: 2016 IEEE International Conference on Consumer Electronics (ICCE), pp. 502–503. IEEE (2016)

  4. Antonioli, D., Tippenhauer, N.O.: MiniCPS: a toolkit for security research on CPS networks. In: Proceedings of the First ACM Workshop on Cyber-Physical Systems-Security and/or PrivaCy, pp. 91–100. ACM (2015)

  5. Batalle, J., Riera, J.F., Escalona, E., Garcia-Espin, J.A.: On the implementation of NFV over an OpenFlow infrastructure: routing function virtualization. In: 2013 IEEE SDN for Future Networks and Services (SDN4FNS), pp. 1–6. IEEE (2013)

  6. Bonafiglia, R., Castellano, G., Cerrato, I., Risso, F.: End-to-end service orchestration across SDN and cloud computing domains. In: 2017 IEEE Conference on Network Softwarization (NetSoft), pp. 1–6. IEEE (2017)

  7. Boyd, R.: Network Service Orchestration enabled by Tail-f. https://blogs.cisco.com/cin/tail-f (2015)

  8. Calvaresi, D., Marinoni, M., Sturm, A., Schumacher, M., Buttazzo, G.: The challenge of real-time multi-agent systems for enabling IOT and CPS. In: Proceedings of the International Conference on Web Intelligence, pp. 356–364. ACM (2017)

  9. Cardenas, A., Amin, S., Sinopoli, B., Giani, A., Perrig, A., Sastry, S.: Challenges for securing cyber physical systems. In: Workshop on Future Directions in Cyber-physical Systems Security, p. 5 (2009)

  10. Collina, M., Corazza, G.E., Vanelli-Coralli, A.: Introducing the QEST broker: scaling the IoT by bridging MQTT and REST. In: 2012 IEEE 23rd International Symposium on Personal, Indoor and Mobile Radio Communications-(PIMRC), pp. 36–41. IEEE (2012)

  11. Curry, E.: Message-oriented middleware. In: Middleware for Communications, pp. 1–28 (2004)

  12. Darabseh, A., Al-Ayyoub, M., Jararweh, Y., Benkhelifa, E., Vouk, M., Rindos, A.: SDStorage: a software defined storage experimental framework. In: 2015 IEEE International Conference on Cloud Engineering (IC2E), pp. 341–346. IEEE (2015)

  13. Dawson-Haggerty, S., Ortiz, J., Trager, J., Culler, D., Katz, R.H.: Energy savings and the “software-defined” building. IEEE Des. Test Comput. 29(4), 56–57 (2012)

    Article  Google Scholar 

  14. Derler, P., Lee, E.A., Vincentelli, A.S.: Modeling cyber-physical systems. Proc. IEEE 100(1), 13–28 (2012)

    Article  Google Scholar 

  15. Dey, K.C., Rayamajhi, A., Chowdhury, M., Bhavsar, P., Martin, J.: Vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication in a heterogeneous wireless network-performance evaluation. Transp. Res. C 68, 168–184 (2016)

    Article  Google Scholar 

  16. Dixon, C., Olshefski, D., Jain, V., DeCusatis, C., Felter, W., Carter, J., Banikazemi, M., Mann, V., Tracey, J.M., Recio, R.: Software defined networking to support the software defined environment. IBM J. Res. Dev. 58(2/3), 3:1–3:14 (2014)

    Article  Google Scholar 

  17. Dong, X., Lin, H., Tan, R., Iyer, R.K., Kalbarczyk, Z.: Software-defined networking for smart grid resilience: opportunities and challenges. In: Proceedings of the 1st ACM Workshop on Cyber-Physical System Security, pp. 61–68. ACM (2015)

  18. Freris, N.M., et al.: A software defined architecture for cyberphysical systems. In: 2017 Fourth International Conference on Software Defined Systems (SDS), pp. 54–60. IEEE (2017)

  19. Glancy, D.J.: Autonomous and automated and connected cars-oh my: first generation autonomous cars in the legal ecosystem. Minn. J. Law Sci. Technol. 16, 619 (2015)

    Google Scholar 

  20. Gurgen, L., Gunalp, O., Benazzouz, Y., Gallissot, M.: Self-aware cyber-physical systems and applications in smart buildings and cities. In: Proceedings of the Conference on Design, Automation and Test in Europe, pp. 1149–1154. EDA Consortium (2013)

  21. Hunkeler, U., Truong, H.L., Stanford-Clark, A.: MQTT-S—a publish/subscribe protocol for wireless sensor networks. In: 3rd International Conference on Communication Systems Software and Middleware and Workshops, 2008 (COMSWARE 2008), pp. 791–798. IEEE (2008)

  22. Jararweh, Y., Al-Ayyoub, M., Benkhelifa, E., Vouk, M., Rindos, A.: SDIoT: a software defined based internet of things framework. J. Ambient Intell. Humanized Comput. 6(4), 453–461 (2015)

    Article  Google Scholar 

  23. Jarschel, M., Zinner, T., Hoßfeld, T., Tran-Gia, P., Kellerer, W.: Interfaces, attributes, and use cases: a compass for SDN. IEEE Commun. Mag. 52(6), 210–217 (2014)

    Article  Google Scholar 

  24. Karnouskos, S.: Cyber-physical systems in the smartgrid. In: 2011 9th IEEE International Conference on Industrial Informatics (INDIN), pp. 20–23. IEEE (2011)

  25. Kathiravelu, P., Veiga, L.: CHIEF: controller farm for clouds of software-defined community networks. In: 2016 IEEE International Conference on Cloud Engineering Workshop (IC2EW), pp. 1–6. IEEE (2016)

  26. Kathiravelu, P., Veiga, L.: SD-CPS: taming the challenges of cyber-physical systems with a software-defined approach. In: 2017 Fourth International Conference on Software Defined Systems (SDS), pp. 6–13. IEEE (2017)

  27. Lee, E.A.: Computing Foundations and Practice for Cyber-physical Systems: A Preliminary Report. Technical Report UCB/EECS-2007-72. University of California, Berkeley (2007)

    Google Scholar 

  28. Lee, E.A.: Cyber physical systems: design challenges. In: 2008 11th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC), pp. 363–369. IEEE (2008)

  29. Lee, E.A.: The past, present and future of cyber-physical systems: a focus on models. Sensors 15(3), 4837–4869 (2015)

    Article  Google Scholar 

  30. Lee, J., Bagheri, B., Kao, H.A.: A cyber-physical systems architecture for industry 4.0-based manufacturing systems. Manuf. Lett. 3, 18–23 (2015)

    Article  Google Scholar 

  31. Leners, J.B., Gupta, T., Aguilera, M.K., Walfish, M.: Taming uncertainty in distributed systems with help from the network. In: Proceedings of the Tenth European Conference on Computer Systems, p. 9. ACM (2015)

  32. Li, C.S., Brech, B., Crowder, S., Dias, D., Franke, H., Hogstrom, M., Lindquist, D., Pacifici, G., Pappe, S., Rajaraman, B.: Software defined environments: an introduction. IBM J. Res. Dev. 58(2/3), 1:1–1:11 (2014)

    Article  Google Scholar 

  33. Liu, J., Li, Y., Chen, M., Dong, W., Jin, D.: Software-defined internet of things for smart urban sensing. IEEE Commun. Mag. 53(9), 55–63 (2015)

    Article  Google Scholar 

  34. Liu, K., Ng, J.K., Lee, V.C., Son, S.H., Stojmenovic, I.: Cooperative data scheduling in hybrid vehicular ad hoc networks: VANET as a software defined network. IEEE/ACM Trans. Netw. 24(3), 1759–1773 (2016)

    Article  Google Scholar 

  35. Liu, Y., Shou, G., Hu, Y., Guo, Z., Li, H., Seah, H.S.: Towards a smart campus: innovative applications with wicloud platform based on mobile edge computing. In: 2017 12th International Conference on Computer Science and Education (ICCSE), pp. 133–138. IEEE (2017)

  36. Locke, D.: MQ Telemetry Transport (MQTT) v3.1 Protocol Specification. IBM developerWorks Technical Library. http://www.ibm.com/developerworks/webservices/library/ws-mqtt/index.html (2010)

  37. Macker, J.: Mobile ad hoc networking (manet): routing protocol performance issues and evaluation considerations (1999)

  38. Mahmood, A., Casetti, C., Chiasserini, C.F., Giaccone, P., Harri, J.: Mobility-aware edge caching for connected cars. In: 2016 12th Annual Conference on Wireless On-Demand Network Systems and Services (WONS), pp. 1–8. IEEE (2016)

  39. McKeown, N., Anderson, T., Balakrishnan, H., Parulkar, G., Peterson, L., Rexford, J., Shenker, S., Turner, J.: OpenFlow: enabling innovation in campus networks. ACM SIGCOMM Comput. Commun. Rev. 38(2), 69–74 (2008)

    Article  Google Scholar 

  40. Medved, J., Varga, R., Tkacik, A., Gray, K.: Opendaylight: towards a model-driven SDN controller architecture. In: Proceeding of IEEE International Symposium on a World of Wireless, Mobile and Multimedia Networks 2014 (2014)

  41. MEF: Lifecycle Service Orchestration|Third Network. https://www.mef.net/third-network/lifecycle-service-orchestration (2017)

  42. Munir, S., Stankovic, J.A.: Depsys: dependency aware integration of cyber-physical systems for smart homes. In: 2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS), pp. 127–138. IEEE (2014)

  43. Nierbeck, A., Goodyear, J., Edstrom, J., Kesler, H.: Apache Karaf Cookbook. Packt Publishing Ltd., Birmingham (2014)

    Google Scholar 

  44. Pacheco, J., Tunc, C., Hariri, S.: Design and evaluation of resilient infrastructures systems for smart cities. In: 2016 IEEE International Smart Cities Conference (ISC2), pp. 1–6. IEEE (2016)

  45. Pasha, M., Khan, K.U.R.: Architecture and channel aware task offloading in opportunistic vehicular edge networks. IJSSST 18(4), 15.1–15.7 (2015)

    Google Scholar 

  46. Patel, P., Ali, M.I., Sheth, A.: On using the intelligent edge for IoT analytics. IEEE Intell. Syst. 32(5), 64–69 (2017)

    Article  Google Scholar 

  47. Persson, M., Håkansson, A.: A communication protocol for different communication technologies in cyber-physical systems. Procedia Comput. Sci. 60, 1697–1706 (2015)

    Article  Google Scholar 

  48. Qin, Z., Denker, G., Giannelli, C., Bellavista, P., Venkatasubramanian, N.: A software defined networking architecture for the internet-of-things. In: 2014 IEEE Network Operations and Management Symposium (NOMS), pp. 1–9. IEEE (2014)

  49. Qin, Z., Do, N., Denker, G., Venkatasubramanian, N.: Software-defined cyber-physical multinetworks. In: 2014 International Conference on Computing, Networking and Communications (ICNC), pp. 322–326. IEEE (2014)

  50. Qin, Z., Iannario, L., Giannelli, C., Bellavista, P., Denker, G., Venkatasubramanian, N.: Mina: a reflective middleware for managing dynamic multinetwork environments. In: 2014 IEEE Network Operations and Management Symposium (NOMS), pp. 1–4. IEEE (2014)

  51. Sampigethaya, K., Poovendran, R.: Cyber-physical system framework for future aircraft and air traffic control. In: 2012 IEEE Aerospace Conference, pp. 1–9. IEEE (2012)

  52. Sgambelluri, A., Tusa, F., Gharbaoui, M., Maini, E., Toka, L., Perez, J., Paolucci, F., Martini, B., Poe, W., Hernandes, J.M., et al.: Orchestration of network services across multiple operators: the 5G exchange prototype. In: 2017 European Conference on Networks and Communications (EuCNC), pp. 1–5. IEEE (2017)

  53. Siozios, K., Soudris, D., Kosmatopoulos, E.: Cyber-Physical Systems: Decision Making Mechanisms and Applications. River Publishers, Delft (2017)

    Google Scholar 

  54. Snyder, B., Bosnanac, D., Davies, R.: ActiveMQ in Action, vol. 47. Manning, Shelter Island (2011)

    Google Scholar 

  55. Srinivasan, R.: RPC: Remote procedure call protocol specification version 2 (1995)

  56. Stantchev, V., Schröpfer, C.: Negotiating and enforcing QoS and SLAs in grid and cloud computing. In: International Conference on Grid and Pervasive Computing, pp. 25–35. Springer (2009)

  57. Vegni, A.M., Biagi, M., Cusani, R.: Smart vehicles, technologies and main applications in vehicular ad hoc networks. In: Vehicular Technologies-Deployment and Applications. InTech (2013)

  58. Vilalta, R., Mayoral, A., Pubill, D., Casellas, R., Martínez, R., Serra, J., Verikoukis, C., Muñoz, R.: End-to-end SDN orchestration of IoT services using an SDN/NFV-enabled edge node. In: Optical Fiber Communication Conference, W2A-42. Optical Society of America (2016)

  59. Villari, M., Fazio, M., Dustdar, S., Rana, O., Chen, L., Ranjan, R.: Software defined membrane: policy-driven edge and internet of things security. IEEE Cloud Comput. 4(4), 92–99 (2017)

    Article  Google Scholar 

  60. Vinoski, S.: Advanced message queuing protocol. IEEE Internet Comput. 10(6), 87 (2006)

    Article  Google Scholar 

  61. Wan, J., Tang, S., Shu, Z., Li, D., Wang, S., Imran, M., Vasilakos, A.V.: Software-defined industrial internet of things in the context of industry 4.0. IEEE Sens. J. 16(20), 7373–7380 (2016)

    Article  Google Scholar 

  62. Wan, J., Zhang, D., Zhao, S., Yang, L., Lloret, J.: Context-aware vehicular cyber-physical systems with cloud support: architecture, challenges, and solutions. IEEE Commun. Mag. 52(8), 106–113 (2014)

    Article  Google Scholar 

  63. Wichtlhuber, M., Reinecke, R., Hausheer, D.: An sdn-based cdn/isp collaboration architecture for managing high-volume flows. IEEE Trans. Netw. Serv. Manag. 12(1), 48–60 (2015)

    Article  Google Scholar 

  64. Yousefi, S., Mousavi, M.S., Fathy, M.: Vehicular ad hoc networks (vanets): challenges and perspectives. In: 2006 6th International Conference on ITS Telecommunications Proceedings, pp. 761–766. IEEE (2006)

Download references

Acknowledgements

This work was supported by national funds through Fundação para a Ciência e a Tecnologia with reference UID/CEC/50021/2013 and a Ph.D. grant offered by the Erasmus Mundus Joint Doctorate in Distributed Computing (EMJD-DC) under grant agreement 2012-0030.

Author information

Authors and Affiliations

  1. Emory University School of Medicine, Atlanta, USA

    Pradeeban Kathiravelu

  2. INESC-ID Lisboa/Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal

    Pradeeban Kathiravelu & Luís Veiga

  3. Université catholique de Louvain, Louvain-la-Neuve, Belgium

    Pradeeban Kathiravelu & Peter Van Roy

Authors
  1. Pradeeban Kathiravelu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Peter Van Roy
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Luís Veiga
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Pradeeban Kathiravelu.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Kathiravelu, P., Van Roy, P. & Veiga, L. SD-CPS: software-defined cyber-physical systems. Taming the challenges of CPS with workflows at the edge. Cluster Comput 22, 661–677 (2019). https://doi.org/10.1007/s10586-018-2874-8

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10586-018-2874-8

Keywords

Search

Navigation