Cyber-Physical Systems Laboratory - User contributions [en]

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:59:58Z

YehanMa: /* WCPS-EC */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

[[File:Wcps_architecture_wcps_EC.png|350px|thumb|right|Figure 5. WCPS-EC Architecture]]

We built a real-time hybrid simulator, wireless cyber-physical simulator edge-computing (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

In WCPS-RT, the worst-case end-to-end latency is below one sampling period. Hence the actuation commands are set to have fixed latency of one sampling period. However, in multi-tier control systems, the end-to-end latency can be longer than one sampling period. In addition, we consider a more realistic control system setup with (1) clock-driven sensors that sample the plant outputs periodically every sampling period; (2) an event-driven controller which calculates the actuation commands as soon as the sensor data arrives; and (3) event-driven actuators, which means actuators can respond to updated actuation commands immediately.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:53:01Z

YehanMa: /* Talks */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

[[File:Wcps_architecture_wcps_EC.png|350px|thumb|right|Figure 5. WCPS-EC Architecture]]

We built a real-time hybrid simulator, wireless cyber-physical simulator edge-computing (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

In WCPS-RT, the worst-case end-to-end latency is below one sampling period. Hence the actuation commands are set to have fixed latency of one sampling period. However, in multi-tier control systems, the E2E latency can be longer than one sampling period. In addition, we consider a more realistic control system setup with (1) clock-driven sensors that sample the plant outputs periodically every sampling period; (2) an event-driven controller which calculates the actuation commands as soon as the sensor data arrives; and (3) event-driven actuators, which means actuators can respond to updated actuation commands immediately.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:50:36Z

YehanMa:

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

[[File:Wcps_architecture_wcps_EC.png|350px|thumb|right|Figure 5. WCPS-EC Architecture]]

We built a real-time hybrid simulator, wireless cyber-physical simulator edge-computing (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

In WCPS-RT, the worst-case end-to-end latency is below one sampling period. Hence the actuation commands are set to have fixed latency of one sampling period. However, in multi-tier control systems, the E2E latency can be longer than one sampling period. In addition, we consider a more realistic control system setup with (1) clock-driven sensors that sample the plant outputs periodically every sampling period; (2) an event-driven controller which calculates the actuation commands as soon as the sensor data arrives; and (3) event-driven actuators, which means actuators can respond to updated actuation commands immediately.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:49:24Z

YehanMa: /* WCPS-EC */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

[[File:Wcps_architecture_wcps_EC.png|350px|thumb|right|Figure 5. WCPS-EC Architecture]]

We built a real-time hybrid simulator, wireless cyber-physical simulator edge-computing (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

In WCPS-RT, the worst-case end-to-end latency is below one sampling period. Hence the actuation commands are set to have fixed latency of one sampling period. However, in multi-tier control systems, the E2E latency can be longer than one sampling period. In addition, we consider a more realistic control system setup with (1) clock-driven sensors that sample the plant outputs periodically every sampling period; (2) an event-driven controller which calculates the actuation commands as soon as the sensor data arrives; and (3) event-driven actuators, which means actuators can respond to updated actuation commands immediately.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:48:39Z

YehanMa: /* WCPS-EC */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

[[File:Wcps_architecture_wcps_EC.png|350px|thumb|right|Figure 5. WCPS-EC Architecture]]

We built a real-time hybrid simulator, wireless cyber-physical simulator edge-computing (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

In WCPS-RT, the worst-case E2E latency is below one sampling period. Hence the actuation commands are set to have fixed latency of one sampling period. However, in multi-tier control systems, the E2E latency can be longer than one sampling period. In addition, we consider a more realistic control system setup with (1) clock-driven sensors that sample the plant outputs periodically every sampling period; (2) an event-driven controller which calculates the actuation commands as soon as the sensor data arrives; and (3) event-driven actuators, which means actuators can respond to updated actuation commands immediately.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:45:15Z

YehanMa: /* WCPS-EC */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

[[File:Wcps_architecture_wcps_EC.png|350px|thumb|right|Figure 5. WCPS-EC Architecture]]

We built a real-time hybrid simulator, wireless cyber-physical simulator edge-computing (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:43:34Z

YehanMa: /* WCPS-EC */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

[[File:Wcps_architecture_wcps_EC.png|400px|thumb|right|Figure 5. WCPS-EC Architecture]]

We built a real-time hybrid simulator, wireless cyber-physical simulator edge-computing (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

File:Wcps architecture wcps EC.png

2020-11-23T07:43:09Z

YehanMa:

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:38:10Z

YehanMa: /* WCPS-EC */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

[[File:Wcps_architecture_wcps_EC.png|300px|thumb|right|Figure 5. WCPS-EC Architecture]]

We built a real-time hybrid simulator, wireless cyber-physical simulator edge-computing (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:37:08Z

YehanMa: /* WCPS-EC */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

[[File:Wcps_architecture_wcps_EC.png|300px|thumb|right|Figure 5. WCPS-EC Architecture]]

We built a real-time hybrid simulator, wireless cyber-physical simulator real-time (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:35:54Z

YehanMa: /* WCPS-EC */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

We built a real-time hybrid simulator, wireless cyber-physical simulator real-time (WCPS-EC), which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:35:25Z

YehanMa: /* WCPS-EC */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

We built a real-time hybrid simulator, WCPS-EC, which integrates (1) Real controllers running on various computation platforms; (2) Real Wi-Fi network and Ethernet, or simulated network using TOSSIM; (3) Simulink Desktop Real-time (SLDRT), which simulates robotic arm in real-time.

The architecture of WCPS-EC is shown in Fig. 5. Compared with WCPS-RT, WCPS-EC includes immigrated controllers running on various computation platforms instead of controllers running in MATLAB/Simulink. In addition, WCPS-EC can reflect the impacts of real communication network and computation platform during run-time.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:31:46Z

YehanMa:

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== WCPS-EC ==

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

File:EMSOFT.pdf

2020-11-23T07:26:34Z

YehanMa:

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:25:02Z

YehanMa: /* Talks */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:09:53Z

YehanMa: /* Talks */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:EMSOFT.mov Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T07:09:29Z

YehanMa: /* Talks */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== Talks ==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Exploring Edge Computing for Multi-Tier Industrial Control], ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T04:47:39Z

YehanMa: /* Publication */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== Talks ==
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, 4(4), Article 41, June 2020.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-11-23T04:44:59Z

YehanMa: /* Publication */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-RT ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== Talks ==
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu, B. Sinopoli and S. Zeng, [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control], IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems (TCAD), Special Issue on ESWEEK 2020 - Proceedings of ACM International Conference on Embedded Software (EMSOFT), September 2020.
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, accepted.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu

WCPS: Wireless Cyber-Physical Simulator

2020-09-22T03:55:17Z

YehanMa: /* What's New */

----
Wireless Cyber-Physical Simulator (WCPS) is an open-source simulation environment for wireless control systems. By integrating Simulink and the TOSSIM wireless sensor simulator in a holistic simulation environment, WCPS accurately captures the dynamics of both the physical systems and the wireless sensor-actuator networks used for control. WCPS has been used for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf realistic case studies of wireless structural control systems for civil infrastructure], [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf studying routing and control of cyber physical system], and [http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf incorporating emergency alarms in reliable wireless process control]. The broad application of WCPS is to support cyber-physical systems research on large-scale wireless control systems through high-fidelity joint cyber and physical simulations. This site includes the code release, tutorial, and simulation examples for wireless structural control systems.

== What's New ==
* '''[Software Release]''' WCPS-EC is released. [https://github.com/WU-CPSL/WCPS-EC here].
* '''[Software Release]''' WCPS-RT is released. [https://github.com/WU-CPSL/WCPS-RT here].
* '''[Software Release]''' Dockerized [[WCPS v3.0]] for industrial process control is released. [http://wsn.cse.wustl.edu/index.php/WCPS_v3.0 here].
* '''[Software Release]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Problem in Active Structural Control with Wireless Sensor Network].
* '''[Software Release]''' WCPS v2.0 is released.
* '''[Software Update]''' [https://nees.org/groups/wireless_control_benchmark Benchmark Wireless Structural Control Problem], July 29, 2014.
* '''[News]''' [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], August 07, 2013.
* '''[News]''' [http://news.medill.northwestern.edu/chicago/news.aspx?id=222339 Washington Bridge Collapse Could Be a Wake-up Call], May 30, 2013.
* '''[News]''' [http://www.indyposted.com/195455/matthew-roblez-structural-engineering-saves-lives/#.UZ7GqGSAAy8 Matthew Roblez: Structural Engineering Saves Lives], May 22, 2013.
* '''[News Release]''' [http://news.wustl.edu/news/Pages/25358.aspx Engineering Professor Working to Help Bridges Survive Natural Disaster], April 26, 2013.
* '''[Paper]''' [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.
* '''[Software Update]''' A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], April 01, 2013.
* '''[Software Update]''' WCPS v0.1.1 and the four cases studies for the ICCPS'13 paper was released [http://wsn.cse.wustl.edu/index.php/WCPS:_Wireless_Cyber-Physical_Simulator#Download_WCPS here], March 10, 2013.
* '''[Tutorial]''' Wireless structural control examples from a [http://research.engineering.wustl.edu/~boli/downloads/wcps_structural_perspective.pdf structural perspective], March 09, 2013.

== WCPS Architecture ==
[[File:Wcps_architecture_wcpsv3.png|600px|thumb|right|Figure 1. WCPS Architecture]]
In the Fig.1, WCPS simulates
the feedback control loop of the control system as follows.
Sensor data is generated from plant models such as structures and water tanks. Through a cross-platform function call from Simulink, sensor data is injected to the
corresponding wireless sensors in TOSSIM. Following the routes
and transmission schedule calculated by the network manager module,
TOSSIM simulates the end-to-end wireless communication of
the sensor data packets from the sensors to the base station, and
then return the packet delay and loss to the Interfacing Block in
Simulink through the Python interface. The Packet Collector module
extracts packet delivery information(the delay and loss)from the message pool. Sensor
data and their loss and delay are provided to the Data Block,
which can feed the sensor data to the controller at the right time
based on the packet delay (if the packet is not lost). WCPS utilizes
basic API (e.g., the dos, UNIX command) of MATLAB to
do cross-platform function calls. In TOSSIM, we re-implement a
printf method in TinyOS to send simulation results to the
Interfacing Block.

User inputs to WCPS includes reference signals of the plants and wireless traces used
as input to TOSSIM.
The scheduler module calculates transmission schedules. Networking
schedule is then deployed into the MAC layer code of
wireless nodes and becomes effective after a TinyOS compilation.
The TDMA MAC layer in WCPS is developed based on the MAC
Layer Architecture (MLA) library and further adapted for
TOSSIM under TinyOS 2.1.1. Received Signal Strength Indication(
RSSI) and wireless noises traces are collected from real-world
environments and provided to the wireless model used by TOSSIM
for realistic wireless network simulations.
The interfaces between the Simulink model
and TOSSIM are encapsulated as two MATLAB embedded functions
in Simulink: the Interfacing Block and the Data Block, as is shown in Fig.2. The
Interfacing Block extracts delay and loss information from TOSSIM
messages, and the Data Block decides what data will be used for
discrete control during each sampling period. The federated architecture
of WCPS provides great flexibilities to incorporate different
structural models and implement alternative scheduling-control
approaches.
[[File:simulink.png|600px|thumb|center|Figure 2. Simulink Model]]

==Environment Installation==
* Install TinyOS

<pre>
WCPS is implemented and tested on MacOS X (snowleopard), Windows XP, and Windows 7.
Current release of WCPS is under TinyOS 2.1.1, which can be installed following the two methods.
</pre>
* Follow the TinyOS official tutorial on installation of TinyOS for your specific platform: [http://docs.tinyos.net/tinywiki/index.php/Getting_started#User_Contributed_Methods Link]
* Directly download the pre-tested TinyOS 2.1.1 image from here: [http://research.engineering.wustl.edu/~boli/downloads/tinyos-2.1.1.dmg TinyOS2.1.1 for SnowLeopard(and possibly later versions)] [Cygwin package coming soon.]

* Install Mac Layer Architecture(MLA)
<pre>
The MAC Layer Architecture (MLA) provides a component-based architecture for MAC protocols in wireless sensor networks. MLA extends the Unified Power
Management Architecture to provide the hardware-independent interfaces required by timing sensitive MAC protocols, and defines platform-independent
reusable components that implement MAC layer logic on top of them. The MLA architecture can be used to develop a large number of platform-independent
MAC implementations, with little or no further effort required to adapt these implementations to new hardware platforms. Our current implementation of MLA
is built on top of TinyOS 2.1.1. It currently supports platforms which use the CC2420 radio stack and has been tested on TelosB motes. In addition to providing
interfaces and components for building new MAC layer implementations, MLA includes implementations of five representative MAC layers. Specifically for WCPS, we
adopt and further change the pure-TDMA MAC protocol for centralized data communication.
</pre>

* Follow the instructions here: [http://wsn.cse.wustl.edu/index.php?title=MAC_Layer_Architecture Install MLA].

* Install MATLAB and Simulink
* If you already have MATLAB MATLAB 7.11.0.584 (2010b) or later version, skip this step. Otherwise, follow the tutorial here: [http://www.mathworks.com/help/install/index.html install MATLAB]

* Install Python
If you already have Python 2.7.2 or later version installed, skip this step. Otherwise, follow the manual here: [http://www.python.org/getit/ install Python]

<pre>
Below is the installation guide of WCPS v3.0.
For Mac OSX Users who would like to run WCPS on their own computer, please follow first instruction link below for a detailed installation and test procedures.
For OSX/Linux/UNIX/Windows users, please follow the second instruction link below for ruining Dockerized WCPS in a Docker container.
</pre>

*Install [[WCPS v3.0]] on Mac. [[Run_WCPS_On_Mac_Guide]]
*Run [[WCPS v3.0]] using Docker Container. [[Run_WCPS_In_Docker_Container_Guide]]

== Download WCPS ==
* Dockerized WCPSv3: [https://hub.docker.com/r/yehan/wcpsv3/ Docker image], [https://github.com/WU-CPSL/WCPSv3_docker local Matlab folder].
* [https://github.com/WU-CPSL/WCPSv3 Local WCPSv3 installation folder].
* [http://research.engineering.wustl.edu/~boli/downloads/cygwin.zip A complete package of Cygwin with TinyOS 2.1.1, MLA, TOSSIM pre-installed] with a [http://research.engineering.wustl.edu/~boli/downloads/WCPS_Cygwin_Installation_Usage_Tutorial.txt WCPS Cygwin Installation & Usage Tutorial]
* [http://research.engineering.wustl.edu/~boli/downloads/wcpsv0.1.1.zip WCPS v0.1.1 and four extensive case studies] for [http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf ICCPS'13 paper]

== Use WCPS ==

Wireless network plays a critical role in close-loop wireless control system. Sitting on top of WCPS, simulating
a wireless TDMA network is as easy as collecting these NesC files below:

* "Makefile" takes advantage of the fact that it's not necessary to recompile all the files not changed while specifying all necessary libraries.
* "TestNetwork.h" defines necessary message structures for the wireless communication.
* "TestNetworkAppC.nc" connects claimed application interfaces to interfaces that are defined in the hardware library.
* "TestNetworkC.nc" implements send/receive functionality of a wireless node.
* "tossim-call.py" configures TOSSIM network and does packet injection into the Tossim network.[http://research.engineering.wustl.edu/~boli/downloads/TinyosFiles.zip All above necessary files.].
* Re-implemented TOSSIM libraries for TDMA simulation.[http://research.engineering.wustl.edu/~boli/downloads/pure-tdma.zip TDMA components for TOSSIM.].
* Wireless traces: [http://research.engineering.wustl.edu/~boli/downloads/building_noise_n_rssi.zip Traces for 5-sensor wireless network in a building].

Put all the above files into the same folder, prompt a terminal (or a Cygwin window), and in the terminal run
<pre>
Make micaz sim
</pre>

If TinyOS and python is configured correctly, go ahead and run in the terminal:
<pre>
./tossim-call.py
</pre>

Having collected aforementioned TinyOS files, a simplified example that uses key networking Interfacing Block and Data Block of WCPS is shown in Fig. 3.
[[File:Simple_wcps_example.png|500px|thumb|center|Figure 3. A Simple Example that uses Interfacing and Data Block of WCPS. ]]

This examples shows:

* How input data in Simulink is injected to TOSSIM network;
* How TOSSIM Interfacing Block runs as a Matlab Embedded function;
* What type of data is output from the Interfacing Block;
* How data usage strategies are applied to the data in the Data Block.
* What type of data is eventually output from the Data Block and provided for future control use.

Source code for the example can be found [http://research.engineering.wustl.edu/~boli/downloads/simple_example.zip here].
To run this integrated example, simply download, unzip the source code, and run Run_delay_data_func.m in Matlab.

== WCPS-Real-time ==

[[File:Wcps_architecture_wcps_RT.png|300px|thumb|right|Figure 4. WCPS-RT Architecture]]
Given the complexity of wireless communication in physical environments, simulators cannot always capture the real-world behavior of WSANs. Network-in-the-loop simulations have been developed to address the limitation of wireless simulations by incorporating physical wireless networks.

To experiment with wireless control over real-world WSANs, we develop wireless cyber-physical simulator real-time (WCPS-RT). WCPS-RT integrates MATLAB/Simulink Desktop Real-time (SLDRT) and a 3-floor WSAN testbed. It captures realistic wireless dynamics that are hard to simulate accurately, and leverages simulation support for controllers and physical plants.
The architecture of WCPS-RT is shown in Fig. 4.

SLDRT is used to simulate the physical part of the WNCS: physical plants, controllers, state observers, and physical disturbance.
In practice, industrial plants usually operate continuously or at very high rates. However, the wireless communication and controller execute at a relatively low rate because of the communication and computation latencies. Therefore, SLDRT modules are operated at different rates in our design.

The 3-floor WSAN testbed is deployed on the 3rd to 5th floors of Jolley Hall at Washington University in St. Louis. It consists of 70 TelosB motes.
Each mote is equipped with Chipcon CC2420 radio compliant with the IEEE 802.15.4 standard and a TI MSP430 microcontroller.
40 Raspberry Pis with a backplane network are used for the management of the WSAN.

The interfaces between SLDRT and WSAN are socket connections between the PCs that run SLDRT and the Pis, and serial connections between the Pis and the end nodes. In this way, the end nodes of the sensing and actuation flows can be any nodes in the testbed.

== Talks ==
* Yehan Ma, [http://cps.cse.wustl.edu/index.php/File:ICII.pdf Efficient Holistic Control over Industrial Wireless Sensor Actuator Networks] , IEEE International Conference on Industrial Internet (ICII'18), Seattle, October 23, 2018.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study] , ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'16), Vienna, April 11, 2016.
* Chenyang Lu, [http://spectrum.ieee.org/podcast/at-work/test-and-measurement/smart-bridges Smart Bridges - Interview and Podcast on Cyber-Physical Systems for Resilient Bridges], IEEE Spectrum, August 07, 2013.
* Chenyang Lu, [http://www.cse.wustl.edu/~lu/talks/temple-wcn.pdf Real-Time Wireless Control Networks for Cyber-Physical Systems], Computer Science Colloquium, Temple University, April 12, 2013.
* Bo Li, [http://research.engineering.wustl.edu/~boli/papers/WCPS-iccps13.pdf Realistic Case Studies of Wireless Structural Control], ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), Philadelphia, PA, April 11, 2013.

==Publication==
*Y. Ma, C. Lu and Y. Wang, [https://www.cse.wustl.edu/~lu/papers/tcps20.pdf Efficient Holistic Control: Self-Awareness across Controllers and Wireless Networks], ACM Transactions on Cyber-Physical Systems, Special Issue on Self-Awareness in Resource Constrained Cyber-Physical Systems, accepted.
*Y. Ma and C. Lu, [https://www.cse.wustl.edu/~lu/papers/icii18-holistic-control.pdf Efficient Holistic Control over Industrial Wireless Sensor-Actuator Networks], IEEE International Conference on Industrial Internet (ICII'18), October 2018.
* Y. Ma, D. Gunatilaka, B. Li, H. Gonzalez and C. Lu, [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems], ACM Transactions on Cyber-Physical Systems, Special Issue on Dependability in Cyber Physical Systems and Applications, 3(1), Article No. 3, August 2018.
* B. Li, Y. Ma, T. Westenbroek, C. Wu, H. Gonzalez, C. Lu. (2016, April). [http://www.cse.wustl.edu/~lu/papers/iccps16.pdf Wireless Routing and Control: a Cyber-Physical Case Study]. ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS'16), April 2016.
* B. Li, L. Nie, C. Wu, H. Gonzalez, C. Lu.[http://research.engineering.wustl.edu/~boli/papers/iccps15_final.pdf Incorporating Emergency Alarms in Reliable Wireless Process Control]. ACM/IEEE 6th International Conference on Cyber-Physical Systems (ICCPS'15), April 2015.
* B. Li, Z. Sun, K. Mechitov, G. Hackmann, C. Lu, S. Dyke, G. Agha and B. Spencer, "[http://research.engineering.wustl.edu/~boli/papers/iccps13.pdf Realistic Case Studies of Wireless Structural Control]," ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS'13), April 2013.

== Get Support ==
*WCPS v3.0: Yehan Ma: yehan.ma@wustl.edu
*TinyOS and TOSSIM: Bo Li: boli@seas.wustl.edu
*Simulink Models: Zhuoxiong Sun: SUN152@purdue.edu

Photo Album

2020-09-02T13:51:19Z

YehanMa:

__NOTOC__
{| class="wikitable"
| [[Image:Tan_together.jpeg|thumb|250px| none | Rui visits CPSL from NTU.]]
| [[Image:Octav_back.jpg|thumb|250px| none | Octav is back from University of Iowa.]]
| [[Image:Chao_farewell.jpg|thumb|250px| none | Celebration for Dr. Chao Wang's PhD Dissertation Defense.]]
|-
| [[Image:Dee_farewell.jpg|thumb|250px| none | Celebration for Dr. Dolvara Gunatilaka's PhD Dissertation Defense.]]
| [[Image:Jing_back.jpg|thumb|250px| none | Jing is back from NJIT.]]
| [[Image:Xi_farewell.jpg|thumb|250px| none | Xi's farewell party.]]
|-
| [[Image:ICII_cpsl.jpg|thumb|250px| none | CPSLers gathering at [http://www.ieee-icii.org/ ICII'18].]]
| [[Image:Sisu_back.jpg|thumb|250px| none | Sisu is back from Google.]]
| [[Image:Jack_70th_birthday.jpg|thumb|250px| none | Celebration of Dr. Stankovic's 70th birthday.]]
|-
| [[Image:CPS2018.jpg|thumb|220px| none | Dr. Lu's Keynote at CPS Week 2018.]]
| [[Image:Xin_farewell.jpg|thumb|250px| none | Xin's farewell lunch.]]
| [[Image:Jing_party.jpg|thumb|250px| none | Jing's farewell party.]]
|-
| [[Image:Jing_Defense.jpg|thumb|250px| none | Celebration for Dr. Jing Li's PhD Dissertation Defense.]]
| [[Image:2017_Spring_Celebration.png|thumb|250px| none | 2017 Spring Semester celebration party.]]
| [[Image:CPSWeek2017_1.png|thumb|200px| none | CPSL alumni (and five professors!) at CPS Week in Pittsburgh.]]
|-
| [[Image:CPSWeek2017_2.png|thumb|250px| none | CPSL alumni at CPS Week in Pittsburgh.]]
| [[Image:Computer_museum.jpg|thumb|250px| none | CPSLers gathering at [http://sensys.acm.org/2016/index.html SenSys'16] (From left to right Dr. Chengjie Wu, Abu Saifullah, Chenyang Lu and Greg Hackmann) ]]
| [[Image:SenSys16.jpg|thumb|200px| none | CPSLers gathering at [http://sensys.acm.org/2016/index.html SenSys'16] (Dr. Guoliang Xing and Chenyang Lu) ]]
|-
| [[Image:CPSL_interview.png|thumb|250px| none |[https://www.instagram.com/p/BErfGXbMVwa/ Interview in CPSL.]]]
| [[Image:Rtas16_award.jpg|thumb|250px| none |Receiving Outstanding Paper Award in RTAS 2016.]]
| [[Image:Bo.jpg|thumb|250px| none |Celebration for Dr. Bo Li's PhD Dissertation Defense.]]
|-
| [[Image:Installation2.jpg|thumb|250px| none |Group Photo at Installation reception.]]
| [[Image:Installation3.jpg|thumb|250px| none |Installation for Dr. Chenyang Lu as Fullgraf Professor.]]
| [[Image:Installation6.jpg|thumb|250px| none |Dr. Jack Stankovic talks with Dr. Chenyang Lu's three girls at Installation reception.]]
|-
| [[Image:Installation4.jpg|thumb|250px| none |The Fullgraf family at Installation.]]
| [[Image:Installation5.jpg|thumb|250px| none |Installation for Dr. Chenyang Lu and Dr. Lan Yang.]]
| [[Image:Installation1.jpg|thumb|250px| none |Installation for Dr. Chenyang Lu as Fullgraf Professor.]]
|-
| [[Image:group_photo3.jpg|thumb|250px| none |Group discussion in lab.]]
| [[Image:Sensors.jpg|thumb|250px| none |Sensors.]]
| [[Image:Chengjie.jpg|thumb|250px| none |Celebration for Dr. Chengjie Wu's PhD Dissertation Defense.]]
|-
| [[Image:Lu_hk2014.jpg|thumb|250px| none |[http://www.cs.wustl.edu/~lu/ Dr. Chenyang Lu]]]
| [[Image:group_photo.jpg|thumb|250px| none |Lab Members]]
| [[Image:MO2.JPG|thumb|250px| none |Celebration for Dr. Mo Sha's PhD Dissertation Defense.]]
|-
| [[Image:sisu.jpg|thumb|250px| none |Sisu's farewell party.]]
| [[Image:MO3.jpg|thumb|250px| none |Mo's farewell party.]]
| [[Image:group_photo2.jpg|thumb|250px| none |Lab Members]]
|-
| [[Image:lanshun.jpg|thumb|250px| none |Lanshun's farewell party.]]
| [[Image:Lu_snow.jpg|thumb|250px| none |[http://www.cs.wustl.edu/~lu/ Dr. Chenyang Lu]]]
| [[Image:Withrow.jpg|thumb|250px| none |CPSL alumni Guoliang Xing received Withrow Distinguished Scholar Junior Award at Michigan State University.]]
|}

Lab Meeting

2020-09-01T23:12:46Z

YehanMa: /* Previous Semesters */

{| align="right"
| __TOC__
|}

* '''Instructor:''' [http://www.cse.wustl.edu/~lu Prof. Chenyang Lu]
* '''Seminar time: Thursday at 4pm-5pm, Location: Jolley 224'''
* '''Lab meeting time: Friday at 3pm-4pm, Location: Jolley 224'''
* RTSS ([http://www.rtss.org/])
* RTAS ([http://www.rtas.org/])
* ICCPS ([http://www.iccps.org])
* SenSys ([http://sensys.acm.org])
* IPSN ([http://ipsn.acm.org])
* MobiCom ([https://sigmobile.org/mobicom/2019/])
* MobiSys ([http://www.sigmobile.org/mobisys/2019/])

'''Guidelines'''

* Please pick high-quality papers from top venues related to your research.

* Email Dr. Lu your paper for approval one week before your presentation.

* Post the approved paper on the wiki.

* Prepare well and give good talks. The seminar is a significant investment of our time as a group and we want to make the best use of the time.

=== ---May 28---===

Seminar: Haoran

Junqueira, F. P., Reed, B. C., & Serafini, M. (2011, June). Zab: High-performance broadcast for primary-backup systems. In 2011 IEEE/IFIP 41st International Conference on Dependable Systems & Networks (DSN) (pp. 245-256). IEEE. [http://deptinfo.unice.fr/twiki/pub/Minfo/DistributedAlgo/zab.pdf link]

Hunt, P., Konar, M., Junqueira, F. P., & Reed, B. (2010, June). ZooKeeper: Wait-free Coordination for Internet-scale Systems. In USENIX annual technical conference (Vol. 8, No. 9) [https://static.usenix.org/event/atc10/tech/full_papers/Hunt.pdf link]

Lab meeting: Canceled

=== ---June 4---===

Seminar: Hanyang

Che, Zhengping, et al. "Recurrent neural networks for multivariate time series with missing values." Scientific reports 8.1 (2018): 1-12. [https://www.nature.com/articles/s41598-018-24271-9]

Lab meeting: Ruixuan

=== ---June 11---===

Seminar: Ruixuan

Huynh, Sinh, et al. "VitaMon: measuring heart rate variability using smartphone front camera." Proceedings of the 17th Conference on Embedded Networked Sensor Systems. 2019.[[https://dl.acm.org/doi/10.1145/3356250.3360036]]

Lab meeting: Canceled

=== ---June 18---===

Seminar: Jingwen

Cao, Wei, Dong Wang, Jian Li, Hao Zhou, Lei Li, and Yitan Li. "Brits: Bidirectional recurrent imputation for time series." In Advances in Neural Information Processing Systems, pp. 6775-6785. 2018. [https://papers.nips.cc/paper/7911-brits-bidirectional-recurrent-imputation-for-time-series.pdf]

Lab meeting: Bing

=== ---June 25--- ===

Seminar: Dingwen

E. Choi, et al. "GRAM: Graph-based Attention Model for Healthcare Representation Learning." In Proceedings of the 23rd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining (KDD ’17). [https://dl.acm.org/doi/10.1145/3097983.3098126 link]

Lab meeting: Canceled

=== ---July 2--- ===

Seminar: Yehan

Quindlen, John F., Ufuk Topcu, Girish Chowdhary, and Jonathan P. How. Active sampling-based binary verification of dynamical systems. In AIAA Guidance, Navigation, and Control Conference, 2018. [https://arc.aiaa.org/doi/abs/10.2514/6.2018-1107]

Lab meeting: Public Holiday

=== ---July 9--- ===

Seminar: Bing

Ribeiro, Marco Tulio, Sameer Singh, and Carlos Guestrin. "Why should i trust you?: Explaining the predictions of any classifier." Proceedings of the 22nd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining. ACM, 2016. [https://www.kdd.org/kdd2016/papers/files/rfp0573-ribeiroA.pdf]

Lundberg, Scott M., and Su-In Lee. "A unified approach to interpreting model predictions." Advances in neural information processing systems. 2017.[http://papers.nips.cc/paper/7062-a-unified-approach-to-interpreting-model-predictions.pdf]

Lundberg, Scott M., et al. "From local explanations to global understanding with explainable AI for trees." Nature machine intelligence 2.1 (2020): 2522-5839.[https://arxiv.org/pdf/1905.04610.pdf]

Lab meeting: Jiangnan

=== ---July 16 --- ===

Seminar: Jiangnan

Liu, Zihao, et al. "DeepN-JPEG: A deep neural network favorable JPEG-based image compression framework." Proceedings of the 55th Annual Design Automation Conference. 2018.
[https://arxiv.org/pdf/1803.05788.pdf]

Lab meeting: Haoran

=== ---July 23 --- ===

Seminar: Haoran

El-Sanosi, I., & Ezhilchelvan, P. (2018). Improving ZooKeeper Atomic Broadcast Performance When a Server Quorum Never Crashes. EAI Endorsed Transactions on Energy Web. [https://eprints.ncl.ac.uk/file_store/production/253982/0AB5212D-4E87-474C-8487-AED4E008F64A.pdf link]

Ibrahim, E. S. (2018). Mechanisms for Improving ZooKeeper Atomic Broadcast Performance. Computing. [https://pdfs.semanticscholar.org/4203/4d0f80a9e0517403eab3ef6e3722be8d1041.pdf Ph.D. Dissertation]

Lab meeting: Jingwen

=== ---July 30 --- ===

Seminar: Hanyang

J. Futoma, S. Hariharan, and K. Heller. “Learning to Detect Sepsis with a Multitask Gaussian Process RNN Classifier,” in Proceedings of the 34th International Conference on Machine Learning (ICML), Sydney, Australia, Aug 2017. [https://arxiv.org/abs/1706.04152]

Lab meeting: Yehan

=== ---Aug 6 --- ===

Seminar: Ruixuan
Liao, Peng, et al. "Personalized HeartSteps: A Reinforcement Learning Algorithm for Optimizing Physical Activity." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 4.1 (2020): 1-22.

Lab meeting: Dingwen

=== ---Aug 13 --- ===

Seminar: Yehan

Ahlén, Anders, Johan Akerberg, Markus Eriksson, Alf J. Isaksson, Takuya Iwaki, Karl Henrik Johansson, Steffi Knorn, Thomas Lindh, and Henrik Sandberg. "Toward wireless control in industrial process automation: A case study at a paper mill." IEEE Control Systems Magazine 39, no. 5 (2019): 36-57.

Lab meeting: Hanyang

=== ---Aug 20 --- ===

Seminar: Jingwen

Zheng, Kaiping, et al. "TRACER: A Framework for Facilitating Accurate and Interpretable Analytics for High Stakes Applications." Proceedings of the 2020 ACM SIGMOD International Conference on Management of Data. 2020 [https://dl.acm.org/doi/10.1145/3318464.3389720]

Lab meeting: Ruixuan

=== --- Aug 27 --- ===

Seminar: Cancelled

Lab meeting: Haoran

=== --- Sep 03 --- ===

Seminar: Bing

Schwab, Patrick, and Walter Karlen. "CXPlain: Causal explanations for model interpretation under uncertainty." Advances in Neural Information Processing Systems. 2019.[https://papers.nips.cc/paper/9211-cxplain-causal-explanations-for-model-interpretation-under-uncertainty]

Lab meeting: Celebration

=== --- Sep 10 --- ===

Seminar: Haoran

Lab meeting: Jingwen

==Previous Semesters==
* [[Lab Meeting Spring 2020|Spring 2020]]
* [[Seminar Fall 2019|Fall 2019]]
* [[Seminar Summer 2019|Summer 2019]]
* [[Seminar Spring 2019|Spring 2019]]
* [[Seminar Fall 2018|Fall 2018]]
* [[Seminar Summer 2018|Summer 2018]]
* [[Seminar Spring 2018|Spring 2018]]
* [[Seminar Fall 2017|Fall 2017]]
* [[Seminar Summer 2017|Summer 2017]]
* [[Seminar Spring 2017|Spring 2017]]
* [[Seminar Fall 2016|Fall 2016]]
* [[Seminar Summer 2016|Summer 2016]]
* [[Seminar Spring 2016|Spring 2016]]
* [[Seminar Fall 2015|Fall 2015]]
* [[Seminar Summer 2015|Summer 2015]]
* [[Seminar Spring 2015|Spring 2015]]
* [[Seminar Fall 2014|Fall 2014]]
* [[Seminar Summer 2014|Summer 2014]]
* [[Seminar Spring 2014|Spring 2014]]
* [[Seminar Fall 2013|Fall 2013]]
* [[Seminar Summer 2013|Summer 2013]]
* [[Seminar Spring 2013|Spring 2013]]
* [[Seminar Fall 2012|Fall 2012]]
* [[Seminar Summer 2012|Summer 2012]]
* [[Seminar Spring 2012|Spring 2012]]
* [[Seminar Fall 2011|Fall 2011]]
* [[Seminar Summer 2011|Summer 2011]]
* [[Seminar Spring 2011|Spring 2011]]
* [[Seminar Fall 2010|Fall 2010]]
* [[Seminar Spring 2010|Spring 2010]]
* [[Seminar Fall 2009|Fall 2009]]
* [[Seminar Summer 2009|Summer 2009]]
* [[Seminar Spring 2009|Spring 2009]]
* [[Seminar Fall 2008|Fall 2008]]
* [[Seminar Summer 2008|Summer 2008]]
* [[Seminar Spring 2008|Spring 2008]]
* [[Fall 2007]]
* [[Summer 2007]]
* [[Spring 2007]]
* [[Fall 2006]]
* [[Spring 2006]]
* [[Fall 2005]]
* [[Spring 2005]]
* [[Fall 2004]]
* [[Spring 2004]]
* [[Fall 2003]]
* [[Spring 2003]]
* [[Fall 2002]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2002.html Spring 2002]
* [http://userfs.cec.wustl.edu/~cs673/fall.2001.html Fall 2001]
* [http://userfs.cec.wustl.edu/~cs673/spring.2001.html Spring 2001]
* [[Fall 2000]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2000.html Spring 2000]
* [http://cec.wustl.edu/~cs673/backUp/fall.1998.html Fall 1998]
* [http://cec.wustl.edu/~cs673/backUp/spring.1998.html Spring 1998]

==Previous Lab Meetings==
* [[Labmeeting Fall 2014|Fall 2014]]
* [[Labmeeting Summer 2014|Summer 2014]]
* [[Labmeeting Spring 2014|Spring 2014]]

Lab Meeting

2020-09-01T23:12:20Z

YehanMa: /* Previous Semesters */

{| align="right"
| __TOC__
|}

* '''Instructor:''' [http://www.cse.wustl.edu/~lu Prof. Chenyang Lu]
* '''Seminar time: Thursday at 4pm-5pm, Location: Jolley 224'''
* '''Lab meeting time: Friday at 3pm-4pm, Location: Jolley 224'''
* RTSS ([http://www.rtss.org/])
* RTAS ([http://www.rtas.org/])
* ICCPS ([http://www.iccps.org])
* SenSys ([http://sensys.acm.org])
* IPSN ([http://ipsn.acm.org])
* MobiCom ([https://sigmobile.org/mobicom/2019/])
* MobiSys ([http://www.sigmobile.org/mobisys/2019/])

'''Guidelines'''

* Please pick high-quality papers from top venues related to your research.

* Email Dr. Lu your paper for approval one week before your presentation.

* Post the approved paper on the wiki.

* Prepare well and give good talks. The seminar is a significant investment of our time as a group and we want to make the best use of the time.

=== ---May 28---===

Seminar: Haoran

Junqueira, F. P., Reed, B. C., & Serafini, M. (2011, June). Zab: High-performance broadcast for primary-backup systems. In 2011 IEEE/IFIP 41st International Conference on Dependable Systems & Networks (DSN) (pp. 245-256). IEEE. [http://deptinfo.unice.fr/twiki/pub/Minfo/DistributedAlgo/zab.pdf link]

Hunt, P., Konar, M., Junqueira, F. P., & Reed, B. (2010, June). ZooKeeper: Wait-free Coordination for Internet-scale Systems. In USENIX annual technical conference (Vol. 8, No. 9) [https://static.usenix.org/event/atc10/tech/full_papers/Hunt.pdf link]

Lab meeting: Canceled

=== ---June 4---===

Seminar: Hanyang

Che, Zhengping, et al. "Recurrent neural networks for multivariate time series with missing values." Scientific reports 8.1 (2018): 1-12. [https://www.nature.com/articles/s41598-018-24271-9]

Lab meeting: Ruixuan

=== ---June 11---===

Seminar: Ruixuan

Huynh, Sinh, et al. "VitaMon: measuring heart rate variability using smartphone front camera." Proceedings of the 17th Conference on Embedded Networked Sensor Systems. 2019.[[https://dl.acm.org/doi/10.1145/3356250.3360036]]

Lab meeting: Canceled

=== ---June 18---===

Seminar: Jingwen

Cao, Wei, Dong Wang, Jian Li, Hao Zhou, Lei Li, and Yitan Li. "Brits: Bidirectional recurrent imputation for time series." In Advances in Neural Information Processing Systems, pp. 6775-6785. 2018. [https://papers.nips.cc/paper/7911-brits-bidirectional-recurrent-imputation-for-time-series.pdf]

Lab meeting: Bing

=== ---June 25--- ===

Seminar: Dingwen

E. Choi, et al. "GRAM: Graph-based Attention Model for Healthcare Representation Learning." In Proceedings of the 23rd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining (KDD ’17). [https://dl.acm.org/doi/10.1145/3097983.3098126 link]

Lab meeting: Canceled

=== ---July 2--- ===

Seminar: Yehan

Quindlen, John F., Ufuk Topcu, Girish Chowdhary, and Jonathan P. How. Active sampling-based binary verification of dynamical systems. In AIAA Guidance, Navigation, and Control Conference, 2018. [https://arc.aiaa.org/doi/abs/10.2514/6.2018-1107]

Lab meeting: Public Holiday

=== ---July 9--- ===

Seminar: Bing

Ribeiro, Marco Tulio, Sameer Singh, and Carlos Guestrin. "Why should i trust you?: Explaining the predictions of any classifier." Proceedings of the 22nd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining. ACM, 2016. [https://www.kdd.org/kdd2016/papers/files/rfp0573-ribeiroA.pdf]

Lundberg, Scott M., and Su-In Lee. "A unified approach to interpreting model predictions." Advances in neural information processing systems. 2017.[http://papers.nips.cc/paper/7062-a-unified-approach-to-interpreting-model-predictions.pdf]

Lundberg, Scott M., et al. "From local explanations to global understanding with explainable AI for trees." Nature machine intelligence 2.1 (2020): 2522-5839.[https://arxiv.org/pdf/1905.04610.pdf]

Lab meeting: Jiangnan

=== ---July 16 --- ===

Seminar: Jiangnan

Liu, Zihao, et al. "DeepN-JPEG: A deep neural network favorable JPEG-based image compression framework." Proceedings of the 55th Annual Design Automation Conference. 2018.
[https://arxiv.org/pdf/1803.05788.pdf]

Lab meeting: Haoran

=== ---July 23 --- ===

Seminar: Haoran

El-Sanosi, I., & Ezhilchelvan, P. (2018). Improving ZooKeeper Atomic Broadcast Performance When a Server Quorum Never Crashes. EAI Endorsed Transactions on Energy Web. [https://eprints.ncl.ac.uk/file_store/production/253982/0AB5212D-4E87-474C-8487-AED4E008F64A.pdf link]

Ibrahim, E. S. (2018). Mechanisms for Improving ZooKeeper Atomic Broadcast Performance. Computing. [https://pdfs.semanticscholar.org/4203/4d0f80a9e0517403eab3ef6e3722be8d1041.pdf Ph.D. Dissertation]

Lab meeting: Jingwen

=== ---July 30 --- ===

Seminar: Hanyang

J. Futoma, S. Hariharan, and K. Heller. “Learning to Detect Sepsis with a Multitask Gaussian Process RNN Classifier,” in Proceedings of the 34th International Conference on Machine Learning (ICML), Sydney, Australia, Aug 2017. [https://arxiv.org/abs/1706.04152]

Lab meeting: Yehan

=== ---Aug 6 --- ===

Seminar: Ruixuan
Liao, Peng, et al. "Personalized HeartSteps: A Reinforcement Learning Algorithm for Optimizing Physical Activity." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 4.1 (2020): 1-22.

Lab meeting: Dingwen

=== ---Aug 13 --- ===

Seminar: Yehan

Ahlén, Anders, Johan Akerberg, Markus Eriksson, Alf J. Isaksson, Takuya Iwaki, Karl Henrik Johansson, Steffi Knorn, Thomas Lindh, and Henrik Sandberg. "Toward wireless control in industrial process automation: A case study at a paper mill." IEEE Control Systems Magazine 39, no. 5 (2019): 36-57.

Lab meeting: Hanyang

=== ---Aug 20 --- ===

Seminar: Jingwen

Zheng, Kaiping, et al. "TRACER: A Framework for Facilitating Accurate and Interpretable Analytics for High Stakes Applications." Proceedings of the 2020 ACM SIGMOD International Conference on Management of Data. 2020 [https://dl.acm.org/doi/10.1145/3318464.3389720]

Lab meeting: Ruixuan

=== --- Aug 27 --- ===

Seminar: Cancelled

Lab meeting: Haoran

=== --- Sep 03 --- ===

Seminar: Bing

Schwab, Patrick, and Walter Karlen. "CXPlain: Causal explanations for model interpretation under uncertainty." Advances in Neural Information Processing Systems. 2019.[https://papers.nips.cc/paper/9211-cxplain-causal-explanations-for-model-interpretation-under-uncertainty]

Lab meeting: Celebration

=== --- Sep 10 --- ===

Seminar: Haoran

Lab meeting: Jingwen

==Previous Semesters==
* [[Lab Meeting Spring 2021|Spring 2021]]
* [[Lab Meeting Spring 2020|Spring 2020]]
* [[Seminar Fall 2019|Fall 2019]]
* [[Seminar Summer 2019|Summer 2019]]
* [[Seminar Spring 2019|Spring 2019]]
* [[Seminar Fall 2018|Fall 2018]]
* [[Seminar Summer 2018|Summer 2018]]
* [[Seminar Spring 2018|Spring 2018]]
* [[Seminar Fall 2017|Fall 2017]]
* [[Seminar Summer 2017|Summer 2017]]
* [[Seminar Spring 2017|Spring 2017]]
* [[Seminar Fall 2016|Fall 2016]]
* [[Seminar Summer 2016|Summer 2016]]
* [[Seminar Spring 2016|Spring 2016]]
* [[Seminar Fall 2015|Fall 2015]]
* [[Seminar Summer 2015|Summer 2015]]
* [[Seminar Spring 2015|Spring 2015]]
* [[Seminar Fall 2014|Fall 2014]]
* [[Seminar Summer 2014|Summer 2014]]
* [[Seminar Spring 2014|Spring 2014]]
* [[Seminar Fall 2013|Fall 2013]]
* [[Seminar Summer 2013|Summer 2013]]
* [[Seminar Spring 2013|Spring 2013]]
* [[Seminar Fall 2012|Fall 2012]]
* [[Seminar Summer 2012|Summer 2012]]
* [[Seminar Spring 2012|Spring 2012]]
* [[Seminar Fall 2011|Fall 2011]]
* [[Seminar Summer 2011|Summer 2011]]
* [[Seminar Spring 2011|Spring 2011]]
* [[Seminar Fall 2010|Fall 2010]]
* [[Seminar Spring 2010|Spring 2010]]
* [[Seminar Fall 2009|Fall 2009]]
* [[Seminar Summer 2009|Summer 2009]]
* [[Seminar Spring 2009|Spring 2009]]
* [[Seminar Fall 2008|Fall 2008]]
* [[Seminar Summer 2008|Summer 2008]]
* [[Seminar Spring 2008|Spring 2008]]
* [[Fall 2007]]
* [[Summer 2007]]
* [[Spring 2007]]
* [[Fall 2006]]
* [[Spring 2006]]
* [[Fall 2005]]
* [[Spring 2005]]
* [[Fall 2004]]
* [[Spring 2004]]
* [[Fall 2003]]
* [[Spring 2003]]
* [[Fall 2002]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2002.html Spring 2002]
* [http://userfs.cec.wustl.edu/~cs673/fall.2001.html Fall 2001]
* [http://userfs.cec.wustl.edu/~cs673/spring.2001.html Spring 2001]
* [[Fall 2000]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2000.html Spring 2000]
* [http://cec.wustl.edu/~cs673/backUp/fall.1998.html Fall 1998]
* [http://cec.wustl.edu/~cs673/backUp/spring.1998.html Spring 1998]

==Previous Lab Meetings==
* [[Labmeeting Fall 2014|Fall 2014]]
* [[Labmeeting Summer 2014|Summer 2014]]
* [[Labmeeting Spring 2014|Spring 2014]]

Photo Album

2020-09-01T23:07:36Z

YehanMa:

__NOTOC__
{| class="wikitable"
| [[Image:Chong_farewell.jpeg|thumb|250px| none | Celebration for Dr. Chong Li's PhD Dissertation Defense.]]
| [[Image:Tan_together.jpeg|thumb|250px| none | Rui visits CPSL from NTU.]]
| [[Image:Octav_back.jpg|thumb|250px| none | Octav is back from University of Iowa.]]
| [[Image:Chao_farewell.jpg|thumb|250px| none | Celebration for Dr. Chao Wang's PhD Dissertation Defense.]]
|-
| [[Image:Dee_farewell.jpg|thumb|250px| none | Celebration for Dr. Dolvara Gunatilaka's PhD Dissertation Defense.]]
| [[Image:Jing_back.jpg|thumb|250px| none | Jing is back from NJIT.]]
| [[Image:Xi_farewell.jpg|thumb|250px| none | Xi's farewell party.]]
|-
| [[Image:ICII_cpsl.jpg|thumb|250px| none | CPSLers gathering at [http://www.ieee-icii.org/ ICII'18].]]
| [[Image:Sisu_back.jpg|thumb|250px| none | Sisu is back from Google.]]
| [[Image:Jack_70th_birthday.jpg|thumb|250px| none | Celebration of Dr. Stankovic's 70th birthday.]]
|-
| [[Image:CPS2018.jpg|thumb|220px| none | Dr. Lu's Keynote at CPS Week 2018.]]
| [[Image:Xin_farewell.jpg|thumb|250px| none | Xin's farewell lunch.]]
| [[Image:Jing_party.jpg|thumb|250px| none | Jing's farewell party.]]
|-
| [[Image:Jing_Defense.jpg|thumb|250px| none | Celebration for Dr. Jing Li's PhD Dissertation Defense.]]
| [[Image:2017_Spring_Celebration.png|thumb|250px| none | 2017 Spring Semester celebration party.]]
| [[Image:CPSWeek2017_1.png|thumb|200px| none | CPSL alumni (and five professors!) at CPS Week in Pittsburgh.]]
|-
| [[Image:CPSWeek2017_2.png|thumb|250px| none | CPSL alumni at CPS Week in Pittsburgh.]]
| [[Image:Computer_museum.jpg|thumb|250px| none | CPSLers gathering at [http://sensys.acm.org/2016/index.html SenSys'16] (From left to right Dr. Chengjie Wu, Abu Saifullah, Chenyang Lu and Greg Hackmann) ]]
| [[Image:SenSys16.jpg|thumb|200px| none | CPSLers gathering at [http://sensys.acm.org/2016/index.html SenSys'16] (Dr. Guoliang Xing and Chenyang Lu) ]]
|-
| [[Image:CPSL_interview.png|thumb|250px| none |[https://www.instagram.com/p/BErfGXbMVwa/ Interview in CPSL.]]]
| [[Image:Rtas16_award.jpg|thumb|250px| none |Receiving Outstanding Paper Award in RTAS 2016.]]
| [[Image:Bo.jpg|thumb|250px| none |Celebration for Dr. Bo Li's PhD Dissertation Defense.]]
|-
| [[Image:Installation2.jpg|thumb|250px| none |Group Photo at Installation reception.]]
| [[Image:Installation3.jpg|thumb|250px| none |Installation for Dr. Chenyang Lu as Fullgraf Professor.]]
| [[Image:Installation6.jpg|thumb|250px| none |Dr. Jack Stankovic talks with Dr. Chenyang Lu's three girls at Installation reception.]]
|-
| [[Image:Installation4.jpg|thumb|250px| none |The Fullgraf family at Installation.]]
| [[Image:Installation5.jpg|thumb|250px| none |Installation for Dr. Chenyang Lu and Dr. Lan Yang.]]
| [[Image:Installation1.jpg|thumb|250px| none |Installation for Dr. Chenyang Lu as Fullgraf Professor.]]
|-
| [[Image:group_photo3.jpg|thumb|250px| none |Group discussion in lab.]]
| [[Image:Sensors.jpg|thumb|250px| none |Sensors.]]
| [[Image:Chengjie.jpg|thumb|250px| none |Celebration for Dr. Chengjie Wu's PhD Dissertation Defense.]]
|-
| [[Image:Lu_hk2014.jpg|thumb|250px| none |[http://www.cs.wustl.edu/~lu/ Dr. Chenyang Lu]]]
| [[Image:group_photo.jpg|thumb|250px| none |Lab Members]]
| [[Image:MO2.JPG|thumb|250px| none |Celebration for Dr. Mo Sha's PhD Dissertation Defense.]]
|-
| [[Image:sisu.jpg|thumb|250px| none |Sisu's farewell party.]]
| [[Image:MO3.jpg|thumb|250px| none |Mo's farewell party.]]
| [[Image:group_photo2.jpg|thumb|250px| none |Lab Members]]
|-
| [[Image:lanshun.jpg|thumb|250px| none |Lanshun's farewell party.]]
| [[Image:Lu_snow.jpg|thumb|250px| none |[http://www.cs.wustl.edu/~lu/ Dr. Chenyang Lu]]]
| [[Image:Withrow.jpg|thumb|250px| none |CPSL alumni Guoliang Xing received Withrow Distinguished Scholar Junior Award at Michigan State University.]]
|}

Cyber-Physical Systems Laboratory

2020-09-01T23:04:31Z

YehanMa: /* Updates */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University] performs cutting-edge research on AI and machine learning for healthcare, mobile health, real-time systems, Internet of Things, and cyber-physical systems that cross-cut computing and other disciplines.

'''What is Cyber-Physical Systems (CPS)?''' CPS is a holistic design methodology that co-designs the cyber and physical aspects of networked embedded systems. By breaking the barrier between cyber and physical designs, CPS will result in drastic improvement to networked embedded systems and new systems that we cannot build today. [http://www1.cse.wustl.edu/~lu/talks/ecrts11-panel-2011-07.pdf This talk] elaborates on our perspective on CPS.

== Locations ==
* Lab: Jolley Hall 219A

== Updates ==
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/emsoft20.pdf Exploring Edge Computing for Multi-Tier Industrial Control] [[http://esweek.hosting2.acm.org/emsoft/ EMSOFT'20]]
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/iotdi20a.pdf REACT: an Agile Control Plane for Industrial Wireless Sensor-Actuator Networks] [[https://conferences.computer.org/iotDI/2020/ IoTDI'20]]
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/iotdi20b.pdf Adaptive Data Replication in Real-Time Reliable Edge Computing for Internet of Things] [[https://conferences.computer.org/iotDI/2020/ IoTDI'20]]
* '''[News]''' [https://www.cse.wustl.edu/~lu/openings.html PhD Student Openings in AI for Healthcare]
* '''[Talk]''' [https://www.cse.wustl.edu/~lu/talks/IoMT.html Internet of Medical Things: Predicting Clinical Outcomes and Digital Phenotyping with Wearables and Machine Learning] [Washington University School of Medicine]
* '''[Talk]''' [https://www.cse.wustl.edu/~lu/talks/mHealth.pdf Predicting Clinical Outcomes with Wearables: Machine Learning from Small Data] [[https://mhealth.wustl.edu/ mHealth Research Core]]
* '''[Talk]''' [https://www.cse.wustl.edu/~lu/talks/AI-for-Healthcare.pdf Machine Learning for Healthcare: From Wearables to Electronic Health Record] [AI in Health, Washington University]
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/aaai20.pdf DeepAlerts: Deep Learning Based Multi-horizon Alerts for Clinical Deterioration on Oncology Hospital Wards] [[https://aaai.org/Conferences/AAAI-20/ AAAI'20]]
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/rtss19.pdf Predicting Latency Distributions of Aperiodic Time-Critical Services] [[http://2019.rtss.org/ RTSS'19]]
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/health19.pdf Feasibility Study of Monitoring Deterioration of Outpatients Using Multi-modal Data Collected by Wearables] [[https://health.acm.org/ HEALTH]]
* '''[News]''' [https://www.abusayeedsaifullah.com/ Abusayeed Saifullah] became the 4th [http://engineering.wayne.edu/news/wayne-states-abusayeed-saifullah-earns-nsf-career-award-to-advance-low-power-wide-area-wireless-networks-36649 NSF CAREER Awardee] among CPSL alumni (7/2019)
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/icdcs19.pdf FRAME: Fault Tolerant and Real-Time Messaging for Edge Computing] [[https://theory.utdallas.edu/ICDCS2019/ ICDCS'19]]
* '''[Talk]''' [https://cister.isep.ipp.pt/cpsweek2018/keynote#k2 Dependable Industrial Internet of Things] ([http://www.cse.wustl.edu/~lu/talks/cpsweek18_keynote.pdf Slides])[[https://cister.isep.ipp.pt/cpsweek2018/ Keynote at CPS Week 2018]]
* '''[Event]''' Dr. Chengyang Lu serving as General Chair of [http://www.ieee-icii.org/ the first IEEE International Conference on Industrial Internet] ([http://www.ieee-icii.org/ ICII'18])
* '''[News]''' Dr. Chenyang Lu serves as Chair of [http://sites.ieee.org/tcrts/ IEEE Technical Committee on Real-Time Systems]
* '''[Event]''' Dr. Chengyang Lu serves as IoT Chair of [https://www.esweek.org/iot-day/about ACM Embedded Systems Week]
* '''[News]''' Washington University in St. Louis atop [http://csrankings.org/#/fromyear/2007/toyear/2018/index?bed the embedded and real-time systems area in the new CS Rankings]
* '''[Event]''' Dr. Chengyang Lu serves as General Chair of [http://conferences.computer.org/IoTDI/ ACM/IEEE International Conference on Internet of Things Design and Implementation]([http://conferences.computer.org/IoTDI/ IoTDI'18])
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems] [[https://tcps.acm.org/ TCPS]]
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/rtas18.pdf Multi-Mode Virtualization for Soft Real-Time Systems] [[http://2018.rtas.org/ RTAS'18]]
* '''[News]''' [https://sites.google.com/site/jingliwustl/ Jing Li] became the 2nd CPSL student to receive the [https://cse.wustl.edu/graduate/Pages/turner-dissertation-award.aspx Jonathan S. Turner Dissertation Award] (2017)
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/sensys17.pdf Enabling Reliable, Asynchronous, and Bidirectional Communication in Sensor Networks over White Spaces] [[http://sensys.acm.org/2017/ SenSys'17]]
* '''[Talk]''' [http://isorc2017.org/ Real-Time Internet of Things] [Keynote at [http://isorc2017.org/ ISORC'17]]
* '''[Talk]''' [http://www.it.uu.se/research/computer_systems/seminars/170224 Towards Real-Time Cloud Computing] [http://www.uu.se/en Uppsala University]
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/infocom17.pdf Impacts of Channel Selection on Industrial Wireless Sensor-Actuator Networks] [[http://infocom2017.ieee-infocom.org/ INFOCOM'17]]
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/rtss16.pdf Randomized Work Stealing for Large Scale Soft Real-time Systems] [[http://2016.rtss.org/ RTSS'16]]
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/sensys16.pdf SNOW: Sensor Network over White Spaces] '''(Best Paper Award Nominee)''' [[http://sensys.acm.org/2016/index.html SenSys'16]]
* '''[News]''' [https://engineering.wustl.edu/news/Pages/Engineers-team-to-improve-wireless-network-technology.aspx News release on recent NSF CPS grant on industrial wireless control systems] (8/2016)
* '''[Video]''' [http://www.hectv.org/watch/innovations/july-2016/23959/advancing-real-time-virtualization-cloud-computing/ Advancing Real-Time Virtualization, Cloud Computing] [[http://www.hectv.org/ HEC-TV]] (7/2016)
* '''[Talk]''' [http://www.iti.tugraz.at/EWSN2016/cms/index.php?id=44 Dependable Wireless Control through Cyber-Physical Co-Design] [[http://www.iti.tugraz.at/EWSN2016/cms/index.php?id=36 EWSN'16] Keynote]
* '''[News]''' [https://engineering.wustl.edu/news/Pages/Lu,-Gill-to-expand-work-in-real-time-virtualization,-cloud-computing-software-.aspx Computer Scientists to Expand Work in Real-Time Virtualization] (1/2016)
* '''[News]''' [https://engineering.wustl.edu/news/Pages/Lu-named-IEEE-Fellow.aspx#.VmHMfIcfyPg.mailto Dr. Chenyang Lu named '''IEEE Fellow'''] (Citation: for Contributions to Adaptive Real-Time Computing Systems) (1/2016)
* [[News Archive]]

Lab Meeting

2020-08-09T00:46:39Z

YehanMa: /* ---Aug 13 --- */

{| align="right"
| __TOC__
|}

* '''Instructor:''' [http://www.cse.wustl.edu/~lu Prof. Chenyang Lu]
* '''Seminar time: Thursday at 4pm-5pm, Location: Jolley 224'''
* '''Lab meeting time: Friday at 3pm-4pm, Location: Jolley 224'''
* SenSys ([http://sensys.acm.org])
* IPSN ([http://ipsn.acm.org])
* RTSS ([http://www.rtss.org/])
* RTAS ([http://www.rtas.org/])
* ICCPS ([http://www.iccps.org])
* Wireless Health ([http://mobihealth.name/])
* MobiCom ([https://sigmobile.org/mobicom/2019/])
* MobiSys ([http://www.sigmobile.org/mobisys/2019/])
* Sigcomm ([http://conferences.sigcomm.org/sigcomm/2019/])
* NSDI ([https://www.usenix.org/conference/nsdi19])
* SOSP ([https://www.sigops.org/])
* OSDI ([https://www.usenix.org/conference/osdi18/])

'''Guidelines'''

* Please pick high-quality papers from top venues that are related to your research.

* Email Dr.Lu your paper for approval one week before your presentation.

* Post the approved paper on the wiki.

* Prepare well and give good talks. The seminar is a significant investment of our time as a group and we want to make the best use of the time.

=== ---May 28---===

Seminar: Haoran

Junqueira, F. P., Reed, B. C., & Serafini, M. (2011, June). Zab: High-performance broadcast for primary-backup systems. In 2011 IEEE/IFIP 41st International Conference on Dependable Systems & Networks (DSN) (pp. 245-256). IEEE. [http://deptinfo.unice.fr/twiki/pub/Minfo/DistributedAlgo/zab.pdf link]

Hunt, P., Konar, M., Junqueira, F. P., & Reed, B. (2010, June). ZooKeeper: Wait-free Coordination for Internet-scale Systems. In USENIX annual technical conference (Vol. 8, No. 9) [https://static.usenix.org/event/atc10/tech/full_papers/Hunt.pdf link]

Lab meeting: Canceled

=== ---June 4---===

Seminar: Hanyang

Che, Zhengping, et al. "Recurrent neural networks for multivariate time series with missing values." Scientific reports 8.1 (2018): 1-12. [https://www.nature.com/articles/s41598-018-24271-9]

Lab meeting: Ruixuan

=== ---June 11---===

Seminar: Ruixuan

Huynh, Sinh, et al. "VitaMon: measuring heart rate variability using smartphone front camera." Proceedings of the 17th Conference on Embedded Networked Sensor Systems. 2019.[[https://dl.acm.org/doi/10.1145/3356250.3360036]]

Lab meeting: Canceled

=== ---June 18---===

Seminar: Jingwen

Cao, Wei, Dong Wang, Jian Li, Hao Zhou, Lei Li, and Yitan Li. "Brits: Bidirectional recurrent imputation for time series." In Advances in Neural Information Processing Systems, pp. 6775-6785. 2018. [https://papers.nips.cc/paper/7911-brits-bidirectional-recurrent-imputation-for-time-series.pdf]

Lab meeting: Bing

=== ---June 25--- ===

Seminar: Dingwen

E. Choi, et al. "GRAM: Graph-based Attention Model for Healthcare Representation Learning." In Proceedings of the 23rd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining (KDD ’17). [https://dl.acm.org/doi/10.1145/3097983.3098126 link]

Lab meeting: Canceled

=== ---July 2--- ===

Seminar: Yehan

Quindlen, John F., Ufuk Topcu, Girish Chowdhary, and Jonathan P. How. Active sampling-based binary verification of dynamical systems. In AIAA Guidance, Navigation, and Control Conference, 2018. [https://arc.aiaa.org/doi/abs/10.2514/6.2018-1107]

Lab meeting: Public Holiday

=== ---July 9--- ===

Seminar: Bing

Ribeiro, Marco Tulio, Sameer Singh, and Carlos Guestrin. "Why should i trust you?: Explaining the predictions of any classifier." Proceedings of the 22nd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining. ACM, 2016. [https://www.kdd.org/kdd2016/papers/files/rfp0573-ribeiroA.pdf]

Lundberg, Scott M., and Su-In Lee. "A unified approach to interpreting model predictions." Advances in neural information processing systems. 2017.[http://papers.nips.cc/paper/7062-a-unified-approach-to-interpreting-model-predictions.pdf]

Lundberg, Scott M., et al. "From local explanations to global understanding with explainable AI for trees." Nature machine intelligence 2.1 (2020): 2522-5839.[https://arxiv.org/pdf/1905.04610.pdf]

Lab meeting: Jiangnan

=== ---July 16 --- ===

Seminar: Jiangnan

Liu, Zihao, et al. "DeepN-JPEG: A deep neural network favorable JPEG-based image compression framework." Proceedings of the 55th Annual Design Automation Conference. 2018.
[https://arxiv.org/pdf/1803.05788.pdf]

Lab meeting: Haoran

=== ---July 23 --- ===

Seminar: Haoran

El-Sanosi, I., & Ezhilchelvan, P. (2018). Improving ZooKeeper Atomic Broadcast Performance When a Server Quorum Never Crashes. EAI Endorsed Transactions on Energy Web. [https://eprints.ncl.ac.uk/file_store/production/253982/0AB5212D-4E87-474C-8487-AED4E008F64A.pdf link]

Ibrahim, E. S. (2018). Mechanisms for Improving ZooKeeper Atomic Broadcast Performance. Computing. [https://pdfs.semanticscholar.org/4203/4d0f80a9e0517403eab3ef6e3722be8d1041.pdf Ph.D. Dissertation]

Lab meeting: Jingwen

=== ---July 30 --- ===

Seminar: Hanyang

J. Futoma, S. Hariharan, and K. Heller. “Learning to Detect Sepsis with a Multitask Gaussian Process RNN Classifier,” in Proceedings of the 34th International Conference on Machine Learning (ICML), Sydney, Australia, Aug 2017. [https://arxiv.org/abs/1706.04152]

Lab meeting: Yehan

=== ---Aug 6 --- ===

Seminar: Ruixuan
Liao, Peng, et al. "Personalized HeartSteps: A Reinforcement Learning Algorithm for Optimizing Physical Activity." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 4.1 (2020): 1-22.

Lab meeting: Dingwen

=== ---Aug 13 --- ===

Seminar: Yehan

Ahlén, Anders, Johan Akerberg, Markus Eriksson, Alf J. Isaksson, Takuya Iwaki, Karl Henrik Johansson, Steffi Knorn, Thomas Lindh, and Henrik Sandberg. "Toward wireless control in industrial process automation: A case study at a paper mill." IEEE Control Systems Magazine 39, no. 5 (2019): 36-57.

Lab meeting: Hanyang

=== ---Aug 20 --- ===

Seminar: Jingwen

Lab meeting: Ruixuan

=== --- Aug 27 --- ===

Seminar: Jiangnan

Lab meeting: Haoran

==Previous Semesters==
* [[Lab Meeting Spring 2020|Spring 2020]]
* [[Seminar Fall 2019|Fall 2019]]
* [[Seminar Summer 2019|Summer 2019]]
* [[Seminar Spring 2019|Spring 2019]]
* [[Seminar Fall 2018|Fall 2018]]
* [[Seminar Summer 2018|Summer 2018]]
* [[Seminar Spring 2018|Spring 2018]]
* [[Seminar Fall 2017|Fall 2017]]
* [[Seminar Summer 2017|Summer 2017]]
* [[Seminar Spring 2017|Spring 2017]]
* [[Seminar Fall 2016|Fall 2016]]
* [[Seminar Summer 2016|Summer 2016]]
* [[Seminar Spring 2016|Spring 2016]]
* [[Seminar Fall 2015|Fall 2015]]
* [[Seminar Summer 2015|Summer 2015]]
* [[Seminar Spring 2015|Spring 2015]]
* [[Seminar Fall 2014|Fall 2014]]
* [[Seminar Summer 2014|Summer 2014]]
* [[Seminar Spring 2014|Spring 2014]]
* [[Seminar Fall 2013|Fall 2013]]
* [[Seminar Summer 2013|Summer 2013]]
* [[Seminar Spring 2013|Spring 2013]]
* [[Seminar Fall 2012|Fall 2012]]
* [[Seminar Summer 2012|Summer 2012]]
* [[Seminar Spring 2012|Spring 2012]]
* [[Seminar Fall 2011|Fall 2011]]
* [[Seminar Summer 2011|Summer 2011]]
* [[Seminar Spring 2011|Spring 2011]]
* [[Seminar Fall 2010|Fall 2010]]
* [[Seminar Spring 2010|Spring 2010]]
* [[Seminar Fall 2009|Fall 2009]]
* [[Seminar Summer 2009|Summer 2009]]
* [[Seminar Spring 2009|Spring 2009]]
* [[Seminar Fall 2008|Fall 2008]]
* [[Seminar Summer 2008|Summer 2008]]
* [[Seminar Spring 2008|Spring 2008]]
* [[Fall 2007]]
* [[Summer 2007]]
* [[Spring 2007]]
* [[Fall 2006]]
* [[Spring 2006]]
* [[Fall 2005]]
* [[Spring 2005]]
* [[Fall 2004]]
* [[Spring 2004]]
* [[Fall 2003]]
* [[Spring 2003]]
* [[Fall 2002]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2002.html Spring 2002]
* [http://userfs.cec.wustl.edu/~cs673/fall.2001.html Fall 2001]
* [http://userfs.cec.wustl.edu/~cs673/spring.2001.html Spring 2001]
* [[Fall 2000]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2000.html Spring 2000]
* [http://cec.wustl.edu/~cs673/backUp/fall.1998.html Fall 1998]
* [http://cec.wustl.edu/~cs673/backUp/spring.1998.html Spring 1998]

==Previous Lab Meetings==
* [[Labmeeting Fall 2014|Fall 2014]]
* [[Labmeeting Summer 2014|Summer 2014]]
* [[Labmeeting Spring 2014|Spring 2014]]

Lab Meeting

2020-08-09T00:45:44Z

YehanMa: /* ---Aug 20 --- */

{| align="right"
| __TOC__
|}

* '''Instructor:''' [http://www.cse.wustl.edu/~lu Prof. Chenyang Lu]
* '''Seminar time: Thursday at 4pm-5pm, Location: Jolley 224'''
* '''Lab meeting time: Friday at 3pm-4pm, Location: Jolley 224'''
* SenSys ([http://sensys.acm.org])
* IPSN ([http://ipsn.acm.org])
* RTSS ([http://www.rtss.org/])
* RTAS ([http://www.rtas.org/])
* ICCPS ([http://www.iccps.org])
* Wireless Health ([http://mobihealth.name/])
* MobiCom ([https://sigmobile.org/mobicom/2019/])
* MobiSys ([http://www.sigmobile.org/mobisys/2019/])
* Sigcomm ([http://conferences.sigcomm.org/sigcomm/2019/])
* NSDI ([https://www.usenix.org/conference/nsdi19])
* SOSP ([https://www.sigops.org/])
* OSDI ([https://www.usenix.org/conference/osdi18/])

'''Guidelines'''

* Please pick high-quality papers from top venues that are related to your research.

* Email Dr.Lu your paper for approval one week before your presentation.

* Post the approved paper on the wiki.

* Prepare well and give good talks. The seminar is a significant investment of our time as a group and we want to make the best use of the time.

=== ---May 28---===

Seminar: Haoran

Junqueira, F. P., Reed, B. C., & Serafini, M. (2011, June). Zab: High-performance broadcast for primary-backup systems. In 2011 IEEE/IFIP 41st International Conference on Dependable Systems & Networks (DSN) (pp. 245-256). IEEE. [http://deptinfo.unice.fr/twiki/pub/Minfo/DistributedAlgo/zab.pdf link]

Hunt, P., Konar, M., Junqueira, F. P., & Reed, B. (2010, June). ZooKeeper: Wait-free Coordination for Internet-scale Systems. In USENIX annual technical conference (Vol. 8, No. 9) [https://static.usenix.org/event/atc10/tech/full_papers/Hunt.pdf link]

Lab meeting: Canceled

=== ---June 4---===

Seminar: Hanyang

Che, Zhengping, et al. "Recurrent neural networks for multivariate time series with missing values." Scientific reports 8.1 (2018): 1-12. [https://www.nature.com/articles/s41598-018-24271-9]

Lab meeting: Ruixuan

=== ---June 11---===

Seminar: Ruixuan

Huynh, Sinh, et al. "VitaMon: measuring heart rate variability using smartphone front camera." Proceedings of the 17th Conference on Embedded Networked Sensor Systems. 2019.[[https://dl.acm.org/doi/10.1145/3356250.3360036]]

Lab meeting: Canceled

=== ---June 18---===

Seminar: Jingwen

Cao, Wei, Dong Wang, Jian Li, Hao Zhou, Lei Li, and Yitan Li. "Brits: Bidirectional recurrent imputation for time series." In Advances in Neural Information Processing Systems, pp. 6775-6785. 2018. [https://papers.nips.cc/paper/7911-brits-bidirectional-recurrent-imputation-for-time-series.pdf]

Lab meeting: Bing

=== ---June 25--- ===

Seminar: Dingwen

E. Choi, et al. "GRAM: Graph-based Attention Model for Healthcare Representation Learning." In Proceedings of the 23rd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining (KDD ’17). [https://dl.acm.org/doi/10.1145/3097983.3098126 link]

Lab meeting: Canceled

=== ---July 2--- ===

Seminar: Yehan

Quindlen, John F., Ufuk Topcu, Girish Chowdhary, and Jonathan P. How. Active sampling-based binary verification of dynamical systems. In AIAA Guidance, Navigation, and Control Conference, 2018. [https://arc.aiaa.org/doi/abs/10.2514/6.2018-1107]

Lab meeting: Public Holiday

=== ---July 9--- ===

Seminar: Bing

Ribeiro, Marco Tulio, Sameer Singh, and Carlos Guestrin. "Why should i trust you?: Explaining the predictions of any classifier." Proceedings of the 22nd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining. ACM, 2016. [https://www.kdd.org/kdd2016/papers/files/rfp0573-ribeiroA.pdf]

Lundberg, Scott M., and Su-In Lee. "A unified approach to interpreting model predictions." Advances in neural information processing systems. 2017.[http://papers.nips.cc/paper/7062-a-unified-approach-to-interpreting-model-predictions.pdf]

Lundberg, Scott M., et al. "From local explanations to global understanding with explainable AI for trees." Nature machine intelligence 2.1 (2020): 2522-5839.[https://arxiv.org/pdf/1905.04610.pdf]

Lab meeting: Jiangnan

=== ---July 16 --- ===

Seminar: Jiangnan

Liu, Zihao, et al. "DeepN-JPEG: A deep neural network favorable JPEG-based image compression framework." Proceedings of the 55th Annual Design Automation Conference. 2018.
[https://arxiv.org/pdf/1803.05788.pdf]

Lab meeting: Haoran

=== ---July 23 --- ===

Seminar: Haoran

El-Sanosi, I., & Ezhilchelvan, P. (2018). Improving ZooKeeper Atomic Broadcast Performance When a Server Quorum Never Crashes. EAI Endorsed Transactions on Energy Web. [https://eprints.ncl.ac.uk/file_store/production/253982/0AB5212D-4E87-474C-8487-AED4E008F64A.pdf link]

Ibrahim, E. S. (2018). Mechanisms for Improving ZooKeeper Atomic Broadcast Performance. Computing. [https://pdfs.semanticscholar.org/4203/4d0f80a9e0517403eab3ef6e3722be8d1041.pdf Ph.D. Dissertation]

Lab meeting: Jingwen

=== ---July 30 --- ===

Seminar: Hanyang

J. Futoma, S. Hariharan, and K. Heller. “Learning to Detect Sepsis with a Multitask Gaussian Process RNN Classifier,” in Proceedings of the 34th International Conference on Machine Learning (ICML), Sydney, Australia, Aug 2017. [https://arxiv.org/abs/1706.04152]

Lab meeting: Yehan

=== ---Aug 6 --- ===

Seminar: Ruixuan
Liao, Peng, et al. "Personalized HeartSteps: A Reinforcement Learning Algorithm for Optimizing Physical Activity." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 4.1 (2020): 1-22.

Lab meeting: Dingwen

=== ---Aug 13 --- ===

Seminar: Yehan

Lab meeting: Hanyang

=== ---Aug 20 --- ===

Seminar: Jingwen

Lab meeting: Ruixuan

=== --- Aug 27 --- ===

Seminar: Jiangnan

Lab meeting: Haoran

==Previous Semesters==
* [[Lab Meeting Spring 2020|Spring 2020]]
* [[Seminar Fall 2019|Fall 2019]]
* [[Seminar Summer 2019|Summer 2019]]
* [[Seminar Spring 2019|Spring 2019]]
* [[Seminar Fall 2018|Fall 2018]]
* [[Seminar Summer 2018|Summer 2018]]
* [[Seminar Spring 2018|Spring 2018]]
* [[Seminar Fall 2017|Fall 2017]]
* [[Seminar Summer 2017|Summer 2017]]
* [[Seminar Spring 2017|Spring 2017]]
* [[Seminar Fall 2016|Fall 2016]]
* [[Seminar Summer 2016|Summer 2016]]
* [[Seminar Spring 2016|Spring 2016]]
* [[Seminar Fall 2015|Fall 2015]]
* [[Seminar Summer 2015|Summer 2015]]
* [[Seminar Spring 2015|Spring 2015]]
* [[Seminar Fall 2014|Fall 2014]]
* [[Seminar Summer 2014|Summer 2014]]
* [[Seminar Spring 2014|Spring 2014]]
* [[Seminar Fall 2013|Fall 2013]]
* [[Seminar Summer 2013|Summer 2013]]
* [[Seminar Spring 2013|Spring 2013]]
* [[Seminar Fall 2012|Fall 2012]]
* [[Seminar Summer 2012|Summer 2012]]
* [[Seminar Spring 2012|Spring 2012]]
* [[Seminar Fall 2011|Fall 2011]]
* [[Seminar Summer 2011|Summer 2011]]
* [[Seminar Spring 2011|Spring 2011]]
* [[Seminar Fall 2010|Fall 2010]]
* [[Seminar Spring 2010|Spring 2010]]
* [[Seminar Fall 2009|Fall 2009]]
* [[Seminar Summer 2009|Summer 2009]]
* [[Seminar Spring 2009|Spring 2009]]
* [[Seminar Fall 2008|Fall 2008]]
* [[Seminar Summer 2008|Summer 2008]]
* [[Seminar Spring 2008|Spring 2008]]
* [[Fall 2007]]
* [[Summer 2007]]
* [[Spring 2007]]
* [[Fall 2006]]
* [[Spring 2006]]
* [[Fall 2005]]
* [[Spring 2005]]
* [[Fall 2004]]
* [[Spring 2004]]
* [[Fall 2003]]
* [[Spring 2003]]
* [[Fall 2002]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2002.html Spring 2002]
* [http://userfs.cec.wustl.edu/~cs673/fall.2001.html Fall 2001]
* [http://userfs.cec.wustl.edu/~cs673/spring.2001.html Spring 2001]
* [[Fall 2000]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2000.html Spring 2000]
* [http://cec.wustl.edu/~cs673/backUp/fall.1998.html Fall 1998]
* [http://cec.wustl.edu/~cs673/backUp/spring.1998.html Spring 1998]

==Previous Lab Meetings==
* [[Labmeeting Fall 2014|Fall 2014]]
* [[Labmeeting Summer 2014|Summer 2014]]
* [[Labmeeting Spring 2014|Spring 2014]]

Lab Meeting

2020-08-09T00:45:24Z

YehanMa: /* ---Aug 13 --- */

{| align="right"
| __TOC__
|}

* '''Instructor:''' [http://www.cse.wustl.edu/~lu Prof. Chenyang Lu]
* '''Seminar time: Thursday at 4pm-5pm, Location: Jolley 224'''
* '''Lab meeting time: Friday at 3pm-4pm, Location: Jolley 224'''
* SenSys ([http://sensys.acm.org])
* IPSN ([http://ipsn.acm.org])
* RTSS ([http://www.rtss.org/])
* RTAS ([http://www.rtas.org/])
* ICCPS ([http://www.iccps.org])
* Wireless Health ([http://mobihealth.name/])
* MobiCom ([https://sigmobile.org/mobicom/2019/])
* MobiSys ([http://www.sigmobile.org/mobisys/2019/])
* Sigcomm ([http://conferences.sigcomm.org/sigcomm/2019/])
* NSDI ([https://www.usenix.org/conference/nsdi19])
* SOSP ([https://www.sigops.org/])
* OSDI ([https://www.usenix.org/conference/osdi18/])

'''Guidelines'''

* Please pick high-quality papers from top venues that are related to your research.

* Email Dr.Lu your paper for approval one week before your presentation.

* Post the approved paper on the wiki.

* Prepare well and give good talks. The seminar is a significant investment of our time as a group and we want to make the best use of the time.

=== ---May 28---===

Seminar: Haoran

Junqueira, F. P., Reed, B. C., & Serafini, M. (2011, June). Zab: High-performance broadcast for primary-backup systems. In 2011 IEEE/IFIP 41st International Conference on Dependable Systems & Networks (DSN) (pp. 245-256). IEEE. [http://deptinfo.unice.fr/twiki/pub/Minfo/DistributedAlgo/zab.pdf link]

Hunt, P., Konar, M., Junqueira, F. P., & Reed, B. (2010, June). ZooKeeper: Wait-free Coordination for Internet-scale Systems. In USENIX annual technical conference (Vol. 8, No. 9) [https://static.usenix.org/event/atc10/tech/full_papers/Hunt.pdf link]

Lab meeting: Canceled

=== ---June 4---===

Seminar: Hanyang

Che, Zhengping, et al. "Recurrent neural networks for multivariate time series with missing values." Scientific reports 8.1 (2018): 1-12. [https://www.nature.com/articles/s41598-018-24271-9]

Lab meeting: Ruixuan

=== ---June 11---===

Seminar: Ruixuan

Huynh, Sinh, et al. "VitaMon: measuring heart rate variability using smartphone front camera." Proceedings of the 17th Conference on Embedded Networked Sensor Systems. 2019.[[https://dl.acm.org/doi/10.1145/3356250.3360036]]

Lab meeting: Canceled

=== ---June 18---===

Seminar: Jingwen

Cao, Wei, Dong Wang, Jian Li, Hao Zhou, Lei Li, and Yitan Li. "Brits: Bidirectional recurrent imputation for time series." In Advances in Neural Information Processing Systems, pp. 6775-6785. 2018. [https://papers.nips.cc/paper/7911-brits-bidirectional-recurrent-imputation-for-time-series.pdf]

Lab meeting: Bing

=== ---June 25--- ===

Seminar: Dingwen

E. Choi, et al. "GRAM: Graph-based Attention Model for Healthcare Representation Learning." In Proceedings of the 23rd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining (KDD ’17). [https://dl.acm.org/doi/10.1145/3097983.3098126 link]

Lab meeting: Canceled

=== ---July 2--- ===

Seminar: Yehan

Quindlen, John F., Ufuk Topcu, Girish Chowdhary, and Jonathan P. How. Active sampling-based binary verification of dynamical systems. In AIAA Guidance, Navigation, and Control Conference, 2018. [https://arc.aiaa.org/doi/abs/10.2514/6.2018-1107]

Lab meeting: Public Holiday

=== ---July 9--- ===

Seminar: Bing

Ribeiro, Marco Tulio, Sameer Singh, and Carlos Guestrin. "Why should i trust you?: Explaining the predictions of any classifier." Proceedings of the 22nd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining. ACM, 2016. [https://www.kdd.org/kdd2016/papers/files/rfp0573-ribeiroA.pdf]

Lundberg, Scott M., and Su-In Lee. "A unified approach to interpreting model predictions." Advances in neural information processing systems. 2017.[http://papers.nips.cc/paper/7062-a-unified-approach-to-interpreting-model-predictions.pdf]

Lundberg, Scott M., et al. "From local explanations to global understanding with explainable AI for trees." Nature machine intelligence 2.1 (2020): 2522-5839.[https://arxiv.org/pdf/1905.04610.pdf]

Lab meeting: Jiangnan

=== ---July 16 --- ===

Seminar: Jiangnan

Liu, Zihao, et al. "DeepN-JPEG: A deep neural network favorable JPEG-based image compression framework." Proceedings of the 55th Annual Design Automation Conference. 2018.
[https://arxiv.org/pdf/1803.05788.pdf]

Lab meeting: Haoran

=== ---July 23 --- ===

Seminar: Haoran

El-Sanosi, I., & Ezhilchelvan, P. (2018). Improving ZooKeeper Atomic Broadcast Performance When a Server Quorum Never Crashes. EAI Endorsed Transactions on Energy Web. [https://eprints.ncl.ac.uk/file_store/production/253982/0AB5212D-4E87-474C-8487-AED4E008F64A.pdf link]

Ibrahim, E. S. (2018). Mechanisms for Improving ZooKeeper Atomic Broadcast Performance. Computing. [https://pdfs.semanticscholar.org/4203/4d0f80a9e0517403eab3ef6e3722be8d1041.pdf Ph.D. Dissertation]

Lab meeting: Jingwen

=== ---July 30 --- ===

Seminar: Hanyang

J. Futoma, S. Hariharan, and K. Heller. “Learning to Detect Sepsis with a Multitask Gaussian Process RNN Classifier,” in Proceedings of the 34th International Conference on Machine Learning (ICML), Sydney, Australia, Aug 2017. [https://arxiv.org/abs/1706.04152]

Lab meeting: Yehan

=== ---Aug 6 --- ===

Seminar: Ruixuan
Liao, Peng, et al. "Personalized HeartSteps: A Reinforcement Learning Algorithm for Optimizing Physical Activity." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 4.1 (2020): 1-22.

Lab meeting: Dingwen

=== ---Aug 13 --- ===

Seminar: Yehan

Lab meeting: Hanyang

=== ---Aug 20 --- ===

Seminar: Yehan

Lab meeting: Ruixuan

=== --- Aug 27 --- ===

Seminar: Jiangnan

Lab meeting: Haoran

==Previous Semesters==
* [[Lab Meeting Spring 2020|Spring 2020]]
* [[Seminar Fall 2019|Fall 2019]]
* [[Seminar Summer 2019|Summer 2019]]
* [[Seminar Spring 2019|Spring 2019]]
* [[Seminar Fall 2018|Fall 2018]]
* [[Seminar Summer 2018|Summer 2018]]
* [[Seminar Spring 2018|Spring 2018]]
* [[Seminar Fall 2017|Fall 2017]]
* [[Seminar Summer 2017|Summer 2017]]
* [[Seminar Spring 2017|Spring 2017]]
* [[Seminar Fall 2016|Fall 2016]]
* [[Seminar Summer 2016|Summer 2016]]
* [[Seminar Spring 2016|Spring 2016]]
* [[Seminar Fall 2015|Fall 2015]]
* [[Seminar Summer 2015|Summer 2015]]
* [[Seminar Spring 2015|Spring 2015]]
* [[Seminar Fall 2014|Fall 2014]]
* [[Seminar Summer 2014|Summer 2014]]
* [[Seminar Spring 2014|Spring 2014]]
* [[Seminar Fall 2013|Fall 2013]]
* [[Seminar Summer 2013|Summer 2013]]
* [[Seminar Spring 2013|Spring 2013]]
* [[Seminar Fall 2012|Fall 2012]]
* [[Seminar Summer 2012|Summer 2012]]
* [[Seminar Spring 2012|Spring 2012]]
* [[Seminar Fall 2011|Fall 2011]]
* [[Seminar Summer 2011|Summer 2011]]
* [[Seminar Spring 2011|Spring 2011]]
* [[Seminar Fall 2010|Fall 2010]]
* [[Seminar Spring 2010|Spring 2010]]
* [[Seminar Fall 2009|Fall 2009]]
* [[Seminar Summer 2009|Summer 2009]]
* [[Seminar Spring 2009|Spring 2009]]
* [[Seminar Fall 2008|Fall 2008]]
* [[Seminar Summer 2008|Summer 2008]]
* [[Seminar Spring 2008|Spring 2008]]
* [[Fall 2007]]
* [[Summer 2007]]
* [[Spring 2007]]
* [[Fall 2006]]
* [[Spring 2006]]
* [[Fall 2005]]
* [[Spring 2005]]
* [[Fall 2004]]
* [[Spring 2004]]
* [[Fall 2003]]
* [[Spring 2003]]
* [[Fall 2002]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2002.html Spring 2002]
* [http://userfs.cec.wustl.edu/~cs673/fall.2001.html Fall 2001]
* [http://userfs.cec.wustl.edu/~cs673/spring.2001.html Spring 2001]
* [[Fall 2000]]
* [http://userfs.cec.wustl.edu/~cs673/spring.2000.html Spring 2000]
* [http://cec.wustl.edu/~cs673/backUp/fall.1998.html Fall 1998]
* [http://cec.wustl.edu/~cs673/backUp/spring.1998.html Spring 1998]

==Previous Lab Meetings==
* [[Labmeeting Fall 2014|Fall 2014]]
* [[Labmeeting Summer 2014|Summer 2014]]
* [[Labmeeting Spring 2014|Spring 2014]]

Lab Meeting

2020-06-25T19:23:03Z

YehanMa: /* ---July 2--- */

Lab Meeting

2020-06-25T19:21:30Z

YehanMa: /* ---July 2--- */

Lab Meeting

2020-06-25T19:20:59Z

YehanMa: /* ---July 2--- */

Lab Members

2020-05-22T17:30:39Z

YehanMa: /* PhD Students */

{| align="left"
| __TOC__
|}

[[Image:2017_Spring_Celebration.png|thumb|right|700px|Lab Members]]

 

== Faculty ==
* [http://www.cs.wustl.edu/~lu/ Chenyang Lu]

== PhD Students ==

'''Current'''

* Ruixuan Dai: Machine Learning for Health
* Chong Li: Real-Time Cloud
* Dingwen Li: Machine Learning for Health
* Haoran Li: Real-Time Cloud
* Hanyang Liu: Machine Learning for Health
* Jiangnan Liu (with Roch Guerin): Real-Time Edge Computing
* [https://yehancpsl.github.io/ Yehan Ma]: Industrial Internet of Things
* [https://sites.wustl.edu/xuebing/ Bing Xue]: Machine Learning for Health
* Jingwen Zhang: Machine Learning for Health

'''Graduated'''
* [https://wangc86.github.io/ Chao Wang] (PhD 2019, with Chris Gill): Assistant Professor, National Taiwan Normal University.
* Dolvara Gunatilaka (PhD 2019): Instructor, Mahidol University.
* [https://sites.google.com/site/jingliwustl/ Jing Li] (PhD 2017, with Kunal Agrawal): Assistant Professor, New Jersey Institute of Technology.
* [http://www.cse.wustl.edu/~boli/ Bo Li] (PhD 2015): Startup.
* [http://www.cse.wustl.edu/~wuchengjie/ Chengjie Wu] (PhD 2014): Research Scientist, Facebook.
* [https://sites.google.com/site/xisisu/ Sisu Xi] (PhD 2014, with Chris Gill): Software Engineer, Google.
* [http://www.cs.binghamton.edu/~msha/ Mo Sha] (PhD 2014): Assistant Professor, State University of New York at Binghamton.
* [http://web.mst.edu/~saifullaha/ Abusayeed Saifullah] (PhD 2014): Assistant Professor, Wayne State University.
* Yong Fu (PhD 2013): Senior Machine Learning Engineer, Unity.
* [https://www.linkedin.com/pub/greg-hackmann/41/369/673 Greg Hackmann] (PhD 2011): Software Engineer, Google (Android Kernel Group).
* [http://www.divms.uiowa.edu/~ochipara/ Octav Chipara] (PhD 2010, with Catalin Roman): Assistant Professor, University of Iowa.
* [https://www.linkedin.com/pub/chien-liang-fok/36/199/a00 Chien-Liang Fok] (PhD 2009, with Catalin Roman): Researcher, Toyota Research Institute.
* [http://sites.google.com/site/sbhatta/ Sangeeta Bhattacharya] (PhD 2008, with Catalin Roman): Research Scientist, Intel Research (India).
* Yuanfang Zhang (PhD 2008, with Chris Gill): Developer, Microsoft Research (Redmond).
* [http://www2.ece.ohio-state.edu/~xwang/ Xiaorui Wang] (PhD 2006): Professor, Ohio State University.
* [http://www.cse.msu.edu/~glxing/ Guoliang Xing] (PhD 2006): Associate Professor, Michigan State University.
* [https://www.linkedin.com/in/qhuang Qingfeng Huang] (PhD 2003, with Catalin Roman): Senior Scientist, China Mobile US Research Center (formerly with Xerox PARC).

== MS and BS Students ==

* Danny Aguirre Duran (BS)
* Bang, Peter (BS)
* Agneesh Dasgupta (BS)
* Peter Ming (BS)
* Mali Vander Leest (BS)
* Huilin Xu (BS/MS)
* David Yang (BS/MS)
* Zach Young (BS)

== Recent Collaborators ==

* Department of Computer Science: Kunal Agrawal, Yixin Chen, Chris Gill, Roch Guerin
* School of Engineering: Pratim Biswas (EECE), Humberto Gonzalez (ESE), Arye Nehorai (ESE)
* School of Medicine: Thomas Bailey (Medical Informatics), George Despotis (Pathology & Immunology, Anesthesiology), Marin Kollef (ICU), Susan Stark, Alex Wang (Occupational Therapy)
* School of Architecture: Hongxi Yin
* Purdue University: Shirley Dyke
* UIUC: Gul Agha, Bill Spencer
* University of Pennsylvania: Insup Lee, Linh T.X. Phan, Oleg Sokolsky
* Vanderbilt University: Aniruddha Gokhale, Xenofon Koutsoukos, Doug Schmidt
* Emerson: Bill Drake, Eric Rotvold
* Microsoft Research: Ranveer Chandra, Jie Liu, Sriram Sankar
* Samsung: Tae-Suk Kim, Taerim Park
* VMware: Anne Holler

Photo Album

2020-05-22T16:16:57Z

YehanMa:

Photo Album

2020-05-22T16:16:38Z

YehanMa:

__NOTOC__
{| class="wikitable"

| [[Image:Tanr.jpeg|thumb|250px| none | Rui visits CPSL from NTU.]]
| [[Image:Tan_together.jpeg|thumb|250px| none | Rui visits CPSL from NTU.]]
| [[Image:Octav_back.jpg|thumb|250px| none | Octav is back from University of Iowa.]]
| [[Image:Chao_farewell.jpg|thumb|250px| none | Celebration for Dr. Chao Wang's PhD Dissertation Defense.]]
|-
| [[Image:Dee_farewell.jpg|thumb|250px| none | Celebration for Dr. Dolvara Gunatilaka's PhD Dissertation Defense.]]
| [[Image:Jing_back.jpg|thumb|250px| none | Jing is back from NJIT.]]
| [[Image:Xi_farewell.jpg|thumb|250px| none | Xi's farewell party.]]
|-
| [[Image:ICII_cpsl.jpg|thumb|250px| none | CPSLers gathering at [http://www.ieee-icii.org/ ICII'18].]]
| [[Image:Sisu_back.jpg|thumb|250px| none | Sisu is back from Google.]]
| [[Image:Jack_70th_birthday.jpg|thumb|250px| none | Celebration of Dr. Stankovic's 70th birthday.]]
|-
| [[Image:CPS2018.jpg|thumb|220px| none | Dr. Lu's Keynote at CPS Week 2018.]]
| [[Image:Xin_farewell.jpg|thumb|250px| none | Xin's farewell lunch.]]
| [[Image:Jing_party.jpg|thumb|250px| none | Jing's farewell party.]]
|-
| [[Image:Jing_Defense.jpg|thumb|250px| none | Celebration for Dr. Jing Li's PhD Dissertation Defense.]]
| [[Image:2017_Spring_Celebration.png|thumb|250px| none | 2017 Spring Semester celebration party.]]
| [[Image:CPSWeek2017_1.png|thumb|200px| none | CPSL alumni (and five professors!) at CPS Week in Pittsburgh.]]
|-
| [[Image:CPSWeek2017_2.png|thumb|250px| none | CPSL alumni at CPS Week in Pittsburgh.]]
| [[Image:Computer_museum.jpg|thumb|250px| none | CPSLers gathering at [http://sensys.acm.org/2016/index.html SenSys'16] (From left to right Dr. Chengjie Wu, Abu Saifullah, Chenyang Lu and Greg Hackmann) ]]
| [[Image:SenSys16.jpg|thumb|200px| none | CPSLers gathering at [http://sensys.acm.org/2016/index.html SenSys'16] (Dr. Guoliang Xing and Chenyang Lu) ]]
|-
| [[Image:CPSL_interview.png|thumb|250px| none |[https://www.instagram.com/p/BErfGXbMVwa/ Interview in CPSL.]]]
| [[Image:Rtas16_award.jpg|thumb|250px| none |Receiving Outstanding Paper Award in RTAS 2016.]]
| [[Image:Bo.jpg|thumb|250px| none |Celebration for Dr. Bo Li's PhD Dissertation Defense.]]
|-
| [[Image:Installation2.jpg|thumb|250px| none |Group Photo at Installation reception.]]
| [[Image:Installation3.jpg|thumb|250px| none |Installation for Dr. Chenyang Lu as Fullgraf Professor.]]
| [[Image:Installation6.jpg|thumb|250px| none |Dr. Jack Stankovic talks with Dr. Chenyang Lu's three girls at Installation reception.]]
|-
| [[Image:Installation4.jpg|thumb|250px| none |The Fullgraf family at Installation.]]
| [[Image:Installation5.jpg|thumb|250px| none |Installation for Dr. Chenyang Lu and Dr. Lan Yang.]]
| [[Image:Installation1.jpg|thumb|250px| none |Installation for Dr. Chenyang Lu as Fullgraf Professor.]]
|-
| [[Image:group_photo3.jpg|thumb|250px| none |Group discussion in lab.]]
| [[Image:Sensors.jpg|thumb|250px| none |Sensors.]]
| [[Image:Chengjie.jpg|thumb|250px| none |Celebration for Dr. Chengjie Wu's PhD Dissertation Defense.]]
|-
| [[Image:Lu_hk2014.jpg|thumb|250px| none |[http://www.cs.wustl.edu/~lu/ Dr. Chenyang Lu]]]
| [[Image:group_photo.jpg|thumb|250px| none |Lab Members]]
| [[Image:MO2.JPG|thumb|250px| none |Celebration for Dr. Mo Sha's PhD Dissertation Defense.]]
|-
| [[Image:sisu.jpg|thumb|250px| none |Sisu's farewell party.]]
| [[Image:MO3.jpg|thumb|250px| none |Mo's farewell party.]]
| [[Image:group_photo2.jpg|thumb|250px| none |Lab Members]]
|-
| [[Image:lanshun.jpg|thumb|250px| none |Lanshun's farewell party.]]
| [[Image:Lu_snow.jpg|thumb|250px| none |[http://www.cs.wustl.edu/~lu/ Dr. Chenyang Lu]]]
| [[Image:Withrow.jpg|thumb|250px| none |CPSL alumni Guoliang Xing received Withrow Distinguished Scholar Junior Award at Michigan State University.]]
|}

Lab Members

2020-05-22T16:12:43Z

YehanMa: /* PhD Students */

{| align="left"
| __TOC__
|}

[[Image:2017_Spring_Celebration.png|thumb|right|700px|Lab Members]]

 

== Faculty ==
* [http://www.cs.wustl.edu/~lu/ Chenyang Lu]

== PhD Students ==

'''Current'''

* Ruixuan Dai: Machine Learning for Health
* Chong Li: Real-Time Cloud
* Dingwen Li: Machine Learning for Health
* Haoran Li: Real-Time Cloud
* Hanyang Liu: Machine Learning for Health
* Jiangnan Liu (with Roch Guerin)
* Yehan Ma: Industrial Internet of Things
* [https://sites.wustl.edu/xuebing/ Bing Xue]: Machine Learning for Health
* Jingwen Zhang: Machine Learning for Health

'''Graduated'''
* [https://wangc86.github.io/ Chao Wang] (PhD 2019, with Chris Gill): Assistant Professor, National Taiwan Normal University.
* Dolvara Gunatilaka (PhD 2019): Instructor, Mahidol University.
* [https://sites.google.com/site/jingliwustl/ Jing Li] (PhD 2017, with Kunal Agrawal): Assistant Professor, New Jersey Institute of Technology.
* [http://www.cse.wustl.edu/~boli/ Bo Li] (PhD 2015): Startup.
* [http://www.cse.wustl.edu/~wuchengjie/ Chengjie Wu] (PhD 2014): Research Scientist, Facebook.
* [https://sites.google.com/site/xisisu/ Sisu Xi] (PhD 2014, with Chris Gill): Software Engineer, Google.
* [http://www.cs.binghamton.edu/~msha/ Mo Sha] (PhD 2014): Assistant Professor, State University of New York at Binghamton.
* [http://web.mst.edu/~saifullaha/ Abusayeed Saifullah] (PhD 2014): Assistant Professor, Wayne State University.
* Yong Fu (PhD 2013): Senior Machine Learning Engineer, Unity.
* [https://www.linkedin.com/pub/greg-hackmann/41/369/673 Greg Hackmann] (PhD 2011): Software Engineer, Google (Android Kernel Group).
* [http://www.divms.uiowa.edu/~ochipara/ Octav Chipara] (PhD 2010, with Catalin Roman): Assistant Professor, University of Iowa.
* [https://www.linkedin.com/pub/chien-liang-fok/36/199/a00 Chien-Liang Fok] (PhD 2009, with Catalin Roman): Researcher, Toyota Research Institute.
* [http://sites.google.com/site/sbhatta/ Sangeeta Bhattacharya] (PhD 2008, with Catalin Roman): Research Scientist, Intel Research (India).
* Yuanfang Zhang (PhD 2008, with Chris Gill): Developer, Microsoft Research (Redmond).
* [http://www2.ece.ohio-state.edu/~xwang/ Xiaorui Wang] (PhD 2006): Professor, Ohio State University.
* [http://www.cse.msu.edu/~glxing/ Guoliang Xing] (PhD 2006): Associate Professor, Michigan State University.
* [https://www.linkedin.com/in/qhuang Qingfeng Huang] (PhD 2003, with Catalin Roman): Senior Scientist, China Mobile US Research Center (formerly with Xerox PARC).

== MS and BS Students ==

* Danny Aguirre Duran (BS)
* Bang, Peter (BS)
* Agneesh Dasgupta (BS)
* Peter Ming (BS)
* Mali Vander Leest (BS)
* Huilin Xu (BS/MS)
* David Yang (BS/MS)
* Zach Young (BS)

== Recent Collaborators ==

* Department of Computer Science: Kunal Agrawal, Yixin Chen, Chris Gill, Roch Guerin
* School of Engineering: Pratim Biswas (EECE), Humberto Gonzalez (ESE), Arye Nehorai (ESE)
* School of Medicine: Thomas Bailey (Medical Informatics), George Despotis (Pathology & Immunology, Anesthesiology), Marin Kollef (ICU), Susan Stark, Alex Wang (Occupational Therapy)
* School of Architecture: Hongxi Yin
* Purdue University: Shirley Dyke
* UIUC: Gul Agha, Bill Spencer
* University of Pennsylvania: Insup Lee, Linh T.X. Phan, Oleg Sokolsky
* Vanderbilt University: Aniruddha Gokhale, Xenofon Koutsoukos, Doug Schmidt
* Emerson: Bill Drake, Eric Rotvold
* Microsoft Research: Ranveer Chandra, Jie Liu, Sriram Sankar
* Samsung: Tae-Suk Kim, Taerim Park
* VMware: Anne Holler

Lab Members

2020-05-22T16:11:30Z

YehanMa: /* PhD Students */

{| align="left"
| __TOC__
|}

[[Image:2017_Spring_Celebration.png|thumb|right|700px|Lab Members]]

 

== Faculty ==
* [http://www.cs.wustl.edu/~lu/ Chenyang Lu]

== PhD Students ==

'''Current'''

* Ruixuan Dai: Machine Learning for Health
* Chong Li: Real-Time Cloud
* Dingwen Li: Machine Learning for Health
* Haoran Li: Real-Time Cloud
* Hanyang Liu: Machine Learning for Health
* Jiangnan Liu (with Roch Guerin)
* Yehan Ma: Industrial Internet of Things
* [https://sites.wustl.edu/xuebing/ Bing Xue]: Machine Learning for Health

'''Graduated'''
* [https://wangc86.github.io/ Chao Wang] (PhD 2019, with Chris Gill): Assistant Professor, National Taiwan Normal University.
* Dolvara Gunatilaka (PhD 2019): Instructor, Mahidol University.
* [https://sites.google.com/site/jingliwustl/ Jing Li] (PhD 2017, with Kunal Agrawal): Assistant Professor, New Jersey Institute of Technology.
* [http://www.cse.wustl.edu/~boli/ Bo Li] (PhD 2015): Startup.
* [http://www.cse.wustl.edu/~wuchengjie/ Chengjie Wu] (PhD 2014): Research Scientist, Facebook.
* [https://sites.google.com/site/xisisu/ Sisu Xi] (PhD 2014, with Chris Gill): Software Engineer, Google.
* [http://www.cs.binghamton.edu/~msha/ Mo Sha] (PhD 2014): Assistant Professor, State University of New York at Binghamton.
* [http://web.mst.edu/~saifullaha/ Abusayeed Saifullah] (PhD 2014): Assistant Professor, Wayne State University.
* Yong Fu (PhD 2013): Senior Machine Learning Engineer, Unity.
* [https://www.linkedin.com/pub/greg-hackmann/41/369/673 Greg Hackmann] (PhD 2011): Software Engineer, Google (Android Kernel Group).
* [http://www.divms.uiowa.edu/~ochipara/ Octav Chipara] (PhD 2010, with Catalin Roman): Assistant Professor, University of Iowa.
* [https://www.linkedin.com/pub/chien-liang-fok/36/199/a00 Chien-Liang Fok] (PhD 2009, with Catalin Roman): Researcher, Toyota Research Institute.
* [http://sites.google.com/site/sbhatta/ Sangeeta Bhattacharya] (PhD 2008, with Catalin Roman): Research Scientist, Intel Research (India).
* Yuanfang Zhang (PhD 2008, with Chris Gill): Developer, Microsoft Research (Redmond).
* [http://www2.ece.ohio-state.edu/~xwang/ Xiaorui Wang] (PhD 2006): Professor, Ohio State University.
* [http://www.cse.msu.edu/~glxing/ Guoliang Xing] (PhD 2006): Associate Professor, Michigan State University.
* [https://www.linkedin.com/in/qhuang Qingfeng Huang] (PhD 2003, with Catalin Roman): Senior Scientist, China Mobile US Research Center (formerly with Xerox PARC).

== MS and BS Students ==

* Danny Aguirre Duran (BS)
* Bang, Peter (BS)
* Agneesh Dasgupta (BS)
* Peter Ming (BS)
* Mali Vander Leest (BS)
* Huilin Xu (BS/MS)
* David Yang (BS/MS)
* Zach Young (BS)

== Recent Collaborators ==

* Department of Computer Science: Kunal Agrawal, Yixin Chen, Chris Gill, Roch Guerin
* School of Engineering: Pratim Biswas (EECE), Humberto Gonzalez (ESE), Arye Nehorai (ESE)
* School of Medicine: Thomas Bailey (Medical Informatics), George Despotis (Pathology & Immunology, Anesthesiology), Marin Kollef (ICU), Susan Stark, Alex Wang (Occupational Therapy)
* School of Architecture: Hongxi Yin
* Purdue University: Shirley Dyke
* UIUC: Gul Agha, Bill Spencer
* University of Pennsylvania: Insup Lee, Linh T.X. Phan, Oleg Sokolsky
* Vanderbilt University: Aniruddha Gokhale, Xenofon Koutsoukos, Doug Schmidt
* Emerson: Bill Drake, Eric Rotvold
* Microsoft Research: Ranveer Chandra, Jie Liu, Sriram Sankar
* Samsung: Tae-Suk Kim, Taerim Park
* VMware: Anne Holler

Cyber-Physical Systems Laboratory

2020-05-22T16:07:57Z

YehanMa:

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University] performs cutting-edge research on AI and machine learning for healthcare, mobile health, real-time systems, Internet of Things, and cyber-physical systems that cross-cut computing and other disciplines.

'''What is Cyber-Physical Systems (CPS)?''' CPS is a holistic design methodology that co-designs the cyber and physical aspects of networked embedded systems. By breaking the barrier between cyber and physical designs, CPS will result in drastic improvement to networked embedded systems and new systems that we cannot build today. [http://www1.cse.wustl.edu/~lu/talks/ecrts11-panel-2011-07.pdf This talk] elaborates on our perspective on CPS.

== Locations ==
* Lab: Jolley Hall 219A

== Updates ==
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/iotdi20a.pdf REACT: an Agile Control Plane for Industrial Wireless Sensor-Actuator Networks] [[https://conferences.computer.org/iotDI/2020/ IoTDI'20]]
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/iotdi20b.pdf Adaptive Data Replication in Real-Time Reliable Edge Computing for Internet of Things] [[https://conferences.computer.org/iotDI/2020/ IoTDI'20]]
* '''[News]''' [https://www.cse.wustl.edu/~lu/openings.html PhD Student Openings in AI for Healthcare]
* '''[Talk]''' [https://www.cse.wustl.edu/~lu/talks/IoMT.html Internet of Medical Things: Predicting Clinical Outcomes and Digital Phenotyping with Wearables and Machine Learning] [Washington University School of Medicine]
* '''[Talk]''' [https://www.cse.wustl.edu/~lu/talks/mHealth.pdf Predicting Clinical Outcomes with Wearables: Machine Learning from Small Data] [[https://mhealth.wustl.edu/ mHealth Research Core]]
* '''[Talk]''' [https://www.cse.wustl.edu/~lu/talks/AI-for-Healthcare.pdf Machine Learning for Healthcare: From Wearables to Electronic Health Record] [AI in Health, Washington University]
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/aaai20.pdf DeepAlerts: Deep Learning Based Multi-horizon Alerts for Clinical Deterioration on Oncology Hospital Wards] [[https://aaai.org/Conferences/AAAI-20/ AAAI'20]]
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/rtss19.pdf Predicting Latency Distributions of Aperiodic Time-Critical Services] [[http://2019.rtss.org/ RTSS'19]]
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/health19.pdf Feasibility Study of Monitoring Deterioration of Outpatients Using Multi-modal Data Collected by Wearables] [[https://health.acm.org/ HEALTH]]
* '''[News]''' [https://www.abusayeedsaifullah.com/ Abusayeed Saifullah] became the 4th [http://engineering.wayne.edu/news/wayne-states-abusayeed-saifullah-earns-nsf-career-award-to-advance-low-power-wide-area-wireless-networks-36649 NSF CAREER Awardee] among CPSL alumni (7/2019)
* '''[Paper]''' [https://www.cse.wustl.edu/~lu/papers/icdcs19.pdf FRAME: Fault Tolerant and Real-Time Messaging for Edge Computing] [[https://theory.utdallas.edu/ICDCS2019/ ICDCS'19]]
* '''[Talk]''' [https://cister.isep.ipp.pt/cpsweek2018/keynote#k2 Dependable Industrial Internet of Things] ([http://www.cse.wustl.edu/~lu/talks/cpsweek18_keynote.pdf Slides])[[https://cister.isep.ipp.pt/cpsweek2018/ Keynote at CPS Week 2018]]
* '''[Event]''' Dr. Chengyang Lu serving as General Chair of [http://www.ieee-icii.org/ the first IEEE International Conference on Industrial Internet] ([http://www.ieee-icii.org/ ICII'18])
* '''[News]''' Dr. Chenyang Lu serves as Chair of [http://sites.ieee.org/tcrts/ IEEE Technical Committee on Real-Time Systems]
* '''[Event]''' Dr. Chengyang Lu serves as IoT Chair of [https://www.esweek.org/iot-day/about ACM Embedded Systems Week]
* '''[News]''' Washington University in St. Louis atop [http://csrankings.org/#/fromyear/2007/toyear/2018/index?bed the embedded and real-time systems area in the new CS Rankings]
* '''[Event]''' Dr. Chengyang Lu serves as General Chair of [http://conferences.computer.org/IoTDI/ ACM/IEEE International Conference on Internet of Things Design and Implementation]([http://conferences.computer.org/IoTDI/ IoTDI'18])
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/tcps18.pdf Holistic Cyber-Physical Management for Dependable Wireless Control Systems] [[https://tcps.acm.org/ TCPS]]
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/rtas18.pdf Multi-Mode Virtualization for Soft Real-Time Systems] [[http://2018.rtas.org/ RTAS'18]]
* '''[News]''' [https://sites.google.com/site/jingliwustl/ Jing Li] became the 2nd CPSL student to receive the [https://cse.wustl.edu/graduate/Pages/turner-dissertation-award.aspx Jonathan S. Turner Dissertation Award] (2017)
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/sensys17.pdf Enabling Reliable, Asynchronous, and Bidirectional Communication in Sensor Networks over White Spaces] [[http://sensys.acm.org/2017/ SenSys'17]]
* '''[Talk]''' [http://isorc2017.org/ Real-Time Internet of Things] [Keynote at [http://isorc2017.org/ ISORC'17]]
* '''[Talk]''' [http://www.it.uu.se/research/computer_systems/seminars/170224 Towards Real-Time Cloud Computing] [http://www.uu.se/en Uppsala University]
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/infocom17.pdf Impacts of Channel Selection on Industrial Wireless Sensor-Actuator Networks] [[http://infocom2017.ieee-infocom.org/ INFOCOM'17]]
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/rtss16.pdf Randomized Work Stealing for Large Scale Soft Real-time Systems] [[http://2016.rtss.org/ RTSS'16]]
* '''[Paper]''' [http://www.cse.wustl.edu/~lu/papers/sensys16.pdf SNOW: Sensor Network over White Spaces] '''(Best Paper Award Nominee)''' [[http://sensys.acm.org/2016/index.html SenSys'16]]
* '''[News]''' [https://engineering.wustl.edu/news/Pages/Engineers-team-to-improve-wireless-network-technology.aspx News release on recent NSF CPS grant on industrial wireless control systems] (8/2016)
* '''[Video]''' [http://www.hectv.org/watch/innovations/july-2016/23959/advancing-real-time-virtualization-cloud-computing/ Advancing Real-Time Virtualization, Cloud Computing] [[http://www.hectv.org/ HEC-TV]] (7/2016)
* '''[Talk]''' [http://www.iti.tugraz.at/EWSN2016/cms/index.php?id=44 Dependable Wireless Control through Cyber-Physical Co-Design] [[http://www.iti.tugraz.at/EWSN2016/cms/index.php?id=36 EWSN'16] Keynote]
* '''[News]''' [https://engineering.wustl.edu/news/Pages/Lu,-Gill-to-expand-work-in-real-time-virtualization,-cloud-computing-software-.aspx Computer Scientists to Expand Work in Real-Time Virtualization] (1/2016)
* '''[News]''' [https://engineering.wustl.edu/news/Pages/Lu-named-IEEE-Fellow.aspx#.VmHMfIcfyPg.mailto Dr. Chenyang Lu named '''IEEE Fellow'''] (Citation: for Contributions to Adaptive Real-Time Computing Systems) (1/2016)
* [[News Archive]]

MediaWiki:Sidebar

2020-01-24T16:37:10Z

YehanMa:

MediaWiki:Sidebar

2020-01-24T16:36:00Z

YehanMa:

MediaWiki:Sidebar

2020-01-24T16:35:29Z

YehanMa:

Projects

2020-01-10T09:44:21Z

YehanMa: /* Samples of Completed Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]
* [https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]
* [http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]

== Samples of Completed Projects ==
* [http://prt.cse.wustl.edu/ Real-Time Scheduling for Parallel Tasks] [[https://www.nsf.gov/awardsearch/showAward?AWD_ID=1337218 NSF XPS]]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1329861 Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems] [NSF CPS]
* [http://wsn.cse.wustl.edu/index.php/Structural_Health_Monitoring Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure] [[https://nsf.gov/awardsearch/showAward?AWD_ID=1035773 NSF CPS]]
* [https://cfpub.epa.gov/ncer_abstracts/INDEX.cfm/fuseaction/display.abstractDetail/abstract/9747 Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network] [EPA]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1136073 CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems] [NSF CPS]
* [http://wsn.cse.wustl.edu/index.php/Generalized_Submodular_Optimization_for_Integrated_Networked_Sensing_Systems Generalized Submodular Optimization for Integrated Networked Sensing Systems] [[https://nsf.gov/awardsearch/showAward?AWD_ID=1017701 NSF NeTS]]
* [http://wsn.cse.wustl.edu/index.php/Protocols_and_Analysis_for_Predictable_Wireless_Sensor_Networks Protocols and Analysis for Predictable Wireless Sensor Networks] [[https://www.nsf.gov/awardsearch/showAward?AWD_ID=1144552 NSF NeTS]]
* [https://incees.wustl.edu/ Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings] [WU I-CARES]
* Reliable Home Area Networking for Energy-Efficient Buildings and Homes [[https://incees.wustl.edu/ WU I-CARES]]
* [https://www.cse.wustl.edu/~lu/control.html Adaptive QoS Control in Distributed Real-Time Embedded Systems] [NSF CAREER]
* [http://wsn.cse.wustl.edu/index.php/Home_Area_Networks_for_Smart_Energy_and_Home_Automation Home-Area Networks for Smart Energy and Home Automation] [Broadcom, Emerson Climate Technologies]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=0821713 Configurable Cyberphysical Instrument for Real-time Hybrid Testing] [NSF MRI]
* [http://wsn.cse.wustl.edu/index.php?title=Testbed Wireless Sensor Networks Testbed] [NSF CRI]
* [https://www.cse.wustl.edu/~lu/upma.html Unified and Configurable Power Management for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network] [NSF ITR]

Projects

2020-01-10T09:42:47Z

YehanMa: /* Samples of Completed Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]
* [https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]
* [http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]

== Samples of Completed Projects ==
* [http://prt.cse.wustl.edu/ Real-Time Scheduling for Parallel Tasks] [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1337218 NSF XPS]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1329861 Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems] [NSF CPS]
* [http://wsn.cse.wustl.edu/index.php/Structural_Health_Monitoring Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure] [[https://nsf.gov/awardsearch/showAward?AWD_ID=1035773 NSF CPS]]
* [https://cfpub.epa.gov/ncer_abstracts/INDEX.cfm/fuseaction/display.abstractDetail/abstract/9747 Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network] [EPA]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1136073 CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems] [NSF CPS]
* [http://wsn.cse.wustl.edu/index.php/Generalized_Submodular_Optimization_for_Integrated_Networked_Sensing_Systems Generalized Submodular Optimization for Integrated Networked Sensing Systems] [[https://nsf.gov/awardsearch/showAward?AWD_ID=1017701 NSF NeTS]]
* [http://wsn.cse.wustl.edu/index.php/Protocols_and_Analysis_for_Predictable_Wireless_Sensor_Networks Protocols and Analysis for Predictable Wireless Sensor Networks] [[https://www.nsf.gov/awardsearch/showAward?AWD_ID=1144552 NSF NeTS]]
* [https://incees.wustl.edu/ Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings] [WU I-CARES]
* Reliable Home Area Networking for Energy-Efficient Buildings and Homes [[https://incees.wustl.edu/ WU I-CARES]]
* [https://www.cse.wustl.edu/~lu/control.html Adaptive QoS Control in Distributed Real-Time Embedded Systems] [NSF CAREER]
* [http://wsn.cse.wustl.edu/index.php/Home_Area_Networks_for_Smart_Energy_and_Home_Automation Home-Area Networks for Smart Energy and Home Automation] [Broadcom, Emerson Climate Technologies]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=0821713 Configurable Cyberphysical Instrument for Real-time Hybrid Testing] [NSF MRI]
* [http://wsn.cse.wustl.edu/index.php?title=Testbed Wireless Sensor Networks Testbed] [NSF CRI]
* [https://www.cse.wustl.edu/~lu/upma.html Unified and Configurable Power Management for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network] [NSF ITR]

Projects

2020-01-10T09:41:30Z

YehanMa: /* Samples of Completed Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]
* [https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]
* [http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]

== Samples of Completed Projects ==
Real-Time Scheduling for Parallel Tasks [NSF XPS]

* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1329861 Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems] [NSF CPS]
* [http://wsn.cse.wustl.edu/index.php/Structural_Health_Monitoring Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure] [https://nsf.gov/awardsearch/showAward?AWD_ID=1035773 NSF CPS]
* [https://cfpub.epa.gov/ncer_abstracts/INDEX.cfm/fuseaction/display.abstractDetail/abstract/9747 Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network] [EPA]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1136073 CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems] [NSF CPS]
* [http://wsn.cse.wustl.edu/index.php/Generalized_Submodular_Optimization_for_Integrated_Networked_Sensing_Systems Generalized Submodular Optimization for Integrated Networked Sensing Systems] [[https://nsf.gov/awardsearch/showAward?AWD_ID=1017701 NSF NeTS]]
* [http://wsn.cse.wustl.edu/index.php/Protocols_and_Analysis_for_Predictable_Wireless_Sensor_Networks Protocols and Analysis for Predictable Wireless Sensor Networks] [[https://www.nsf.gov/awardsearch/showAward?AWD_ID=1144552 NSF NeTS]]
* [https://incees.wustl.edu/ Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings] [WU I-CARES]
* Reliable Home Area Networking for Energy-Efficient Buildings and Homes [[https://incees.wustl.edu/ WU I-CARES]]
* [https://www.cse.wustl.edu/~lu/control.html Adaptive QoS Control in Distributed Real-Time Embedded Systems] [NSF CAREER]
* [http://wsn.cse.wustl.edu/index.php/Home_Area_Networks_for_Smart_Energy_and_Home_Automation Home-Area Networks for Smart Energy and Home Automation] [Broadcom, Emerson Climate Technologies]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=0821713 Configurable Cyberphysical Instrument for Real-time Hybrid Testing] [NSF MRI]
* [http://wsn.cse.wustl.edu/index.php?title=Testbed Wireless Sensor Networks Testbed] [NSF CRI]
* [https://www.cse.wustl.edu/~lu/upma.html Unified and Configurable Power Management for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network] [NSF ITR]

Projects

2020-01-10T09:37:17Z

YehanMa: /* Samples of Completed Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]
* [https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]
* [http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]

== Samples of Completed Projects ==
Real-Time Scheduling for Parallel Tasks [NSF XPS]
Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems [NSF CPS]

Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure [NSF CPS]

Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network [EPA]

* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1136073 CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems] [NSF CPS]
* [http://wsn.cse.wustl.edu/index.php/Generalized_Submodular_Optimization_for_Integrated_Networked_Sensing_Systems Generalized Submodular Optimization for Integrated Networked Sensing Systems] [NSF NeTS]
* [http://wsn.cse.wustl.edu/index.php/Protocols_and_Analysis_for_Predictable_Wireless_Sensor_Networks Protocols and Analysis for Predictable Wireless Sensor Networks] [NSF NeTS]
* [https://incees.wustl.edu/ Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings] [WU I-CARES]
* Reliable Home Area Networking for Energy-Efficient Buildings and Homes [[https://incees.wustl.edu/ WU I-CARES]]
* [https://www.cse.wustl.edu/~lu/control.html Adaptive QoS Control in Distributed Real-Time Embedded Systems] [NSF CAREER]
* [http://wsn.cse.wustl.edu/index.php/Home_Area_Networks_for_Smart_Energy_and_Home_Automation Home-Area Networks for Smart Energy and Home Automation] [Broadcom, Emerson Climate Technologies]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=0821713 Configurable Cyberphysical Instrument for Real-time Hybrid Testing] [NSF MRI]
* [http://wsn.cse.wustl.edu/index.php?title=Testbed Wireless Sensor Networks Testbed] [NSF CRI]
* [https://www.cse.wustl.edu/~lu/upma.html Unified and Configurable Power Management for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network] [NSF ITR]

Projects

2020-01-10T09:36:43Z

YehanMa: /* Samples of Completed Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]
* [https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]
* [http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]

== Samples of Completed Projects ==
Real-Time Scheduling for Parallel Tasks [NSF XPS]
Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems [NSF CPS]

Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure [NSF CPS]

Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network [EPA]

* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1136073 CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems] [NSF CPS]
* [http://wsn.cse.wustl.edu/index.php/Generalized_Submodular_Optimization_for_Integrated_Networked_Sensing_Systems Generalized Submodular Optimization for Integrated Networked Sensing Systems] [NSF NeTS]
* [http://wsn.cse.wustl.edu/index.php/Protocols_and_Analysis_for_Predictable_Wireless_Sensor_Networks Protocols and Analysis for Predictable Wireless Sensor Networks ] [NSF NeTS]
* [https://incees.wustl.edu/ Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings] [WU I-CARES]
* Reliable Home Area Networking for Energy-Efficient Buildings and Homes [[https://incees.wustl.edu/ WU I-CARES]]
* [https://www.cse.wustl.edu/~lu/control.html Adaptive QoS Control in Distributed Real-Time Embedded Systems] [NSF CAREER]
* [http://wsn.cse.wustl.edu/index.php/Home_Area_Networks_for_Smart_Energy_and_Home_Automation Home-Area Networks for Smart Energy and Home Automation] [Broadcom, Emerson Climate Technologies]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=0821713 Configurable Cyberphysical Instrument for Real-time Hybrid Testing] [NSF MRI]
* [http://wsn.cse.wustl.edu/index.php?title=Testbed Wireless Sensor Networks Testbed] [NSF CRI]
* [https://www.cse.wustl.edu/~lu/upma.html Unified and Configurable Power Management for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network] [NSF ITR]

Projects

2020-01-10T09:36:13Z

YehanMa: /* Samples of Completed Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]
* [https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]
* [http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]

== Samples of Completed Projects ==
Real-Time Scheduling for Parallel Tasks [NSF XPS]
Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems [NSF CPS]

Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure [NSF CPS]

Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network [EPA]

* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=1136073 CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems] [NSF CPS]
* [http://wsn.cse.wustl.edu/index.php/Generalized_Submodular_Optimization_for_Integrated_Networked_Sensing_Systems Generalized Submodular Optimization for Integrated Networked Sensing Systems] [NSF NeTS]
* [http://wsn.cse.wustl.edu/index.php/Protocols_and_Analysis_for_Predictable_Wireless_Sensor_Networks Protocols and Analysis for Predictable Wireless Sensor Networks ] [NSF NeTS]
* [https://incees.wustl.edu/ Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings] [WU I-CARES]
* Reliable Home Area Networking for Energy-Efficient Buildings and Homes [https://incees.wustl.edu/ WU I-CARES]
* [https://www.cse.wustl.edu/~lu/control.html Adaptive QoS Control in Distributed Real-Time Embedded Systems] [NSF CAREER]
* [http://wsn.cse.wustl.edu/index.php/Home_Area_Networks_for_Smart_Energy_and_Home_Automation Home-Area Networks for Smart Energy and Home Automation] [Broadcom, Emerson Climate Technologies]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=0821713 Configurable Cyberphysical Instrument for Real-time Hybrid Testing] [NSF MRI]
* [http://wsn.cse.wustl.edu/index.php?title=Testbed Wireless Sensor Networks Testbed] [NSF CRI]
* [https://www.cse.wustl.edu/~lu/upma.html Unified and Configurable Power Management for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network] [NSF ITR]

Projects

2020-01-10T09:31:46Z

YehanMa: /* Samples of Completed Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]
* [https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]
* [http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]

== Samples of Completed Projects ==
Real-Time Scheduling for Parallel Tasks [NSF XPS]
Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems [NSF CPS]

Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure [NSF CPS]

Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network [EPA]

CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems [NSF CPS]

Generalized Submodular Optimization for Integrated Networked Sensing Systems [NSF NeTS]

Protocols and Analysis for Predictable Wireless Sensor Networks [NSF NeTS]

Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings [WU I-CARES]

* [Reliable Home Area Networking for Energy-Efficient Buildings and Homes] [https://incees.wustl.edu/ WU I-CARES]
* [https://www.cse.wustl.edu/~lu/control.html Adaptive QoS Control in Distributed Real-Time Embedded Systems] [NSF CAREER]
* [http://wsn.cse.wustl.edu/index.php/Home_Area_Networks_for_Smart_Energy_and_Home_Automation Home-Area Networks for Smart Energy and Home Automation] [Broadcom, Emerson Climate Technologies]
* [https://www.nsf.gov/awardsearch/showAward?AWD_ID=0821713 Configurable Cyberphysical Instrument for Real-time Hybrid Testing] [NSF MRI]
* [http://wsn.cse.wustl.edu/index.php?title=Testbed Wireless Sensor Networks Testbed] [NSF CRI]
* [https://www.cse.wustl.edu/~lu/upma.html Unified and Configurable Power Management for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks] [NSF NeTS-NOSS]
* [https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network] [NSF ITR]

Projects

2020-01-10T09:24:53Z

YehanMa: /* Samples of Completed Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]
* [https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]
* [http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]

== Samples of Completed Projects ==
Real-Time Scheduling for Parallel Tasks [NSF XPS]
Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems [NSF CPS]

Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure [NSF CPS]

Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network [EPA]

CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems [NSF CPS]

Generalized Submodular Optimization for Integrated Networked Sensing Systems [NSF NeTS]

Protocols and Analysis for Predictable Wireless Sensor Networks [NSF NeTS]

Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings [WU I-CARES]

Reliable Home Area Networking for Energy-Efficient Buildings and Homes [WU I-CARES]

Adaptive QoS Control in Distributed Real-Time Embedded Systems [NSF CAREER]

Home-Area Networks for Smart Energy and Home Automation [Broadcom, Emerson Climate Technologies]

Configurable Cyberphysical Instrument for Real-time Hybrid Testing [NSF MRI]

Wireless Sensor Networks Testbed [NSF CRI]

Unified and Configurable Power Management for Wireless Sensor Networks [NSF NeTS-NOSS]

* [[Adaptive Resource Control for Certifiable Systems]]
* [[Adaptive QoS Control in Distributed Real-Time Embedded Systems]]
* [[Agilla]] - A mobile agent middleware for wireless sensor networks.
* [[Agimone]] - A middleware system that combines multiple wireless sensor networks by allowing mobile agents to migrate between them.
* [[Configurable Cyberphysical Instrument for Real-time Hybrid Testing]]

* [[http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks]] [NSF NeTS-NOSS]
* [[https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network]] [NSF ITR]

Projects

2020-01-10T09:23:40Z

YehanMa: /* Current Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]
* [https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]
* [http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]

== Samples of Completed Projects ==
Real-Time Scheduling for Parallel Tasks [NSF XPS]
Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems [NSF CPS]

Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure [NSF CPS]

Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network [EPA]

CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems [NSF CPS]

Generalized Submodular Optimization for Integrated Networked Sensing Systems [NSF NeTS]

Protocols and Analysis for Predictable Wireless Sensor Networks [NSF NeTS]

Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings [WU I-CARES]

Reliable Home Area Networking for Energy-Efficient Buildings and Homes [WU I-CARES]

Adaptive QoS Control in Distributed Real-Time Embedded Systems [NSF CAREER]

Home-Area Networks for Smart Energy and Home Automation [Broadcom, Emerson Climate Technologies]

Configurable Cyberphysical Instrument for Real-time Hybrid Testing [NSF MRI]

Wireless Sensor Networks Testbed [NSF CRI]

Unified and Configurable Power Management for Wireless Sensor Networks [NSF NeTS-NOSS]

* [[Adaptive Resource Control for Certifiable Systems]]
* [[Adaptive QoS Control in Distributed Real-Time Embedded Systems]]
* [[Agilla]] - A mobile agent middleware for wireless sensor networks.
* [[Agimone]] - A middleware system that combines multiple wireless sensor networks by allowing mobile agents to migrate between them.
* [[Configurable Cyberphysical Instrument for Real-time Hybrid Testing]]
* [[http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks]] [NSF NeTS-NOSS]
* [[https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network]] [NSF ITR]

Projects

2020-01-10T09:23:12Z

YehanMa: /* Projects */

__NOTOC__
The Cyber-Physical Systems Laboratory (CPSL) at [http://www.wustl.edu/ Washington University in St. Louis] performs
cutting-edge research on real-time systems, wireless sensor networks,
wireless health, and integrated systems that cross-cut these areas and
other engineering disciplines.

== Current Projects ==
* [[https://www.cse.wustl.edu/~lu/iomt.html AI and Internet of Medical Things for Healthcare]]
* [[https://sites.google.com/site/realtimexen/ Real-Time Virtualization and Cloud Computing]]
* [[http://wsn.cse.wustl.edu/index.php/Real-Time_Wireless_Control_Networks Dependable Industrial Internet of Things]]

== Samples of Completed Projects ==
Real-Time Scheduling for Parallel Tasks [NSF XPS]
Safety-Feature Modeling and Adaptive Resource Management for Mixed-Criticality Cyber-Physical Systems [NSF CPS]

Cyber-Physical Co-Design of Wireless Monitoring and Control for Civil Infrastructure [NSF CPS]

Development of Cost-effective, Compact Electrical Ultrafine Particle (eUFP) Sizers and Wireless eUFP Sensor Network [EPA]

CyberMech, a Novel Run-Time Substrate for Cyber-Mechanical Systems [NSF CPS]

Generalized Submodular Optimization for Integrated Networked Sensing Systems [NSF NeTS]

Protocols and Analysis for Predictable Wireless Sensor Networks [NSF NeTS]

Energy Consumption Profiling and Occupant Behavior Learning for Efficient Energy Use in Buildings [WU I-CARES]

Reliable Home Area Networking for Energy-Efficient Buildings and Homes [WU I-CARES]

Adaptive QoS Control in Distributed Real-Time Embedded Systems [NSF CAREER]

Home-Area Networks for Smart Energy and Home Automation [Broadcom, Emerson Climate Technologies]

Configurable Cyberphysical Instrument for Real-time Hybrid Testing [NSF MRI]

Wireless Sensor Networks Testbed [NSF CRI]

Unified and Configurable Power Management for Wireless Sensor Networks [NSF NeTS-NOSS]

* [[Adaptive Resource Control for Certifiable Systems]]
* [[Adaptive QoS Control in Distributed Real-Time Embedded Systems]]
* [[Agilla]] - A mobile agent middleware for wireless sensor networks.
* [[Agimone]] - A middleware system that combines multiple wireless sensor networks by allowing mobile agents to migrate between them.
* [[Configurable Cyberphysical Instrument for Real-time Hybrid Testing]]
* [[http://mobilab.wustl.edu/projects/fluid/ Fluid Software Infrastructure for Wireless Sensor Networks]] [NSF NeTS-NOSS]
* [[https://www.cse.wustl.edu/~lu/itr.htm Spatiotemporal Protocols and Analysis in Wireless Sensor Network]] [NSF ITR]