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Cyber–Physical–HumanSystems

IEEEPress

445HoesLane

Piscataway,NJ08854

IEEEPressEditorialBoard

SarahSpurgeon, EditorinChief

JónAtliBenediktsson

AnjanBose

JamesDuncan

AminMoeness

DesineniSubbaramNaidu

BehzadRazavi

JimLyke

HaiLi

BrianJohnson

JeffreyReed

DiomidisSpinellis

AdamDrobot

TomRobertazzi

AhmetMuratTekalp

Cyber–Physical–HumanSystems

FundamentalsandApplications

Editedby

AnuradhaM.Annaswamy

MassachusettsInstituteofTechnology

Cambridge,MA

USA

PramodP.Khargonekar

UniversityofCalifornia

Irvine,CA

USA

FrançoiseLamnabhi-Lagarrigue

CNRS,CentraleSupelec,UniversityofParis-Saclay

Gif-sur-Yvette

France

SarahK.Spurgeon

UniversityCollegeLondon

London

UK

IEEEPressSeriesonTechnologyManagement,Innovation,andLeadership

Copyright©2023byTheInstituteofElectricalandElectronicsEngineers,Inc.Allrightsreserved.

PublishedbyJohnWiley&Sons,Inc.,Hoboken,NewJersey. PublishedsimultaneouslyinCanada.

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LibraryofCongressCataloging-in-PublicationData:

Names:Annaswamy,AnuradhaM.,1956-contributor.|Khargonekar,P. (Pramod),contributor.|Lamnabhi-Lagarrigue,F.(Françoise),1953contributor.|Spurgeon,SarahK,contributor.

Title:Cyber–physical–humansystems:fundamentalsandapplications/ AnuradhaM.Annaswamy,MassachusettsInstituteofTechnology,Cambridge, MA,USA,PramodP.Khargonekar,UniversityofCalifornia,Irvine,CA, USA,FrançoiseLamnabhi-Lagarrigue,CNRS,CentraleSupelec,Gif-sur-Yvette,France,SarahK.Spurgeon, UniversityCollege,London,London,UK.

Description:Firstedition.|Hoboken,NewJersey:Wiley,[2023]| Includesbibliographicalreferencesandindex.

Identifiers:LCCN2022058865(print)|LCCN2022058866(ebook)|ISBN 9781119857402(hardback)|ISBN9781119857419(adobepdf)|ISBN 9781119857426(epub)

Subjects:LCSH:Human-machinesystems.|Sociotechnicalsystems.| Cooperatingobjects(Computersystems)

Classification:LCCTA167.C8852023(print)|LCCTA167(ebook)|DDC 620.8/2–dc23/eng/20230111

LCrecordavailableathttps://lccn.loc.gov/2022058865

LCebookrecordavailableathttps://lccn.loc.gov/2022058866

CoverDesign:Wiley

CoverImage:©PhonlamaiPhoto/Shutterstock

Setin9.5/12.5ptSTIXTwoTextbyStraive,Chennai,India

Contents

ANotefromtheSeriesEditor xvii

AbouttheEditors xviii

ListofContributors xix

Introduction xxvii

PartIFundamentalConceptsandMethods 1

1Human-in-the-LoopControlandCyber–Physical–HumanSystems: ApplicationsandCategorization 3 TariqSamad

1.1Introduction 3

1.2Cyber + Physical + Human 4

1.2.1CyberphysicalSystems 5

1.2.2Physical–HumanSystems 6

1.2.3Cyber–HumanSystems 6

1.3CategorizingHuman-in-the-LoopControlSystems 6

1.3.1Human-in-the-Plant 8

1.3.2Human-in-the-Controller 8

1.3.3Human–MachineControlSymbiosis 10

1.3.4Humans-in-Multiagent-Loops 11

1.4ARoadmapforHuman-in-the-LoopControl 13

1.4.1Self-andHuman-DrivenCarsonUrbanRoads 13

1.4.2ClimateChangeMitigationandSmartGrids 14

1.5Discussion 15

1.5.1OtherWaysofClassifyingHuman-in-the-LoopControl 15

1.5.2ModelingHumanUnderstandingandDecision-Making 16

1.5.3EthicsandCPHS 18

1.6Conclusions 19

Acknowledgments 19 References 20

2HumanBehavioralModelsUsingUtilityTheoryandProspectTheory 25 AnuradhaM.AnnaswamyandVineetJagadeesanNair

2.1Introduction 25

2.2UtilityTheory 26

2.2.1AnExample 27

2.3ProspectTheory 27

2.3.1AnExample:CPTModelingforSRS 30

2.3.1.1DetectionofCPTEffectsviaLotteries 32

2.3.2TheoreticalImplicationsofCPT 33

2.3.2.1ImplicationI:FourfoldPatternofRiskAttitudes 34

2.3.2.2ImplicationII:StrongRiskAversionOverMixedProspects 36

2.3.2.3ImplicationIII:EffectsofSelf-Reference 37

2.4SummaryandConclusions 38 Acknowledgments 39 References 39

3SocialDiffusionDynamicsinCyber–Physical–HumanSystems 43

LorenzoZinoandMingCao

3.1Introduction 43

3.2GeneralFormalismforSocialDiffusioninCPHS 45

3.2.1ComplexandMultiplexNetworks 45

3.2.2GeneralFrameworkforSocialDiffusion 46

3.2.3MainTheoreticalApproaches 48

3.3ModelingDecision-Making 49

3.3.1PairwiseInteractionModels 49

3.3.2LinearThresholdModels 52

3.3.3Game-TheoreticModels 53

3.4DynamicsinCPHS 55

3.4.1SocialDiffusioninMultiplexNetworks 56

3.4.2Co-EvolutionarySocialDynamics 58

3.5OngoingEffortsTowardControllingSocialDiffusionandFutureChallenges 62 Acknowledgments 63 References 63

4OpportunitiesandThreatsofInteractionsBetweenHumansand Cyber–PhysicalSystems–IntegrationandInclusionApproachesfor CPHS 71 FrédéricVanderhaegenandVictorDíazBenitoJiménez

4.1CPHSandSharedControl 72

4.2“Tailor-made”PrinciplesforHuman–CPSIntegration 73

4.3“All-in-one”basedPrinciplesforHuman–CPSInclusion 74

4.4Dissonances,Opportunities,andThreatsinaCPHS 76

4.5ExamplesofOpportunitiesandThreats 79

4.6Conclusions 85 References 86

5EnablingHuman-AwareAutonomyThroughCognitiveModeling andFeedbackControl 91 NeeraJain,TahiraReid,KumarAkash,MadeleineYuh,andJacobHunter

5.1Introduction 91

5.1.1ImportantCognitiveFactorsinHAI 92

5.1.2ChallengeswithExistingCPHSMethods 93

5.1.3HowtoReadThisChapter 95

5.2CognitiveModeling 95

5.2.1ModelingConsiderations 95

5.2.2CognitiveArchitectures 97

5.2.3ComputationalCognitiveModels 98

5.2.3.1ARMAVandDeterministicLinearModels 99

5.2.3.2DynamicBayesianModels 99

5.2.3.3DecisionAnalyticalModels 100

5.2.3.4POMDPModels 102

5.3StudyDesignandDataCollection 103

5.3.1FrameResearchQuestionsandIdentifyVariables 104

5.3.2FormulateHypothesesorDeterminetheDataNeeded 105

5.3.2.1HypothesisTestingApproach 105

5.3.2.2ModelTrainingApproach 105

5.3.3DesignExperimentand/orStudyScenario 107

5.3.3.1HypothesisTestingApproach 107

5.3.3.2ModelTrainingApproach 107

5.3.4ConductPilotStudiesandGetInitialFeedback;DoPreliminaryAnalysis 108

5.3.5ANoteaboutInstitutionalReviewBoardsandRecruitingParticipants 109

5.4CognitiveFeedbackControl 109

5.4.1ConsiderationsforFeedbackControl 110

5.4.2Approaches 111

5.4.2.1Heuristics-BasedPlanning 111

5.4.2.2Measurement-BasedFeedback 112

5.4.2.3Goal-OrientedFeedback 112

5.4.2.4CaseStudy 112

5.4.3EvaluationMethods 113

5.5SummaryandOpportunitiesforFurtherInvestigation 113

5.5.1ModelGeneralizabilityandAdaptability 114

5.5.2MeasurementofCognitiveStates 114

5.5.3HumanSubjectStudyDesign 114 References 115

6SharedControlwithHumanTrustandWorkloadModels 125 MuratCubuktepe,NilsJansen,andUfukTopcu

6.1Introduction 125

6.1.1ReviewofSharedControlMethods 126

6.1.2ContributionandApproach 127

6.1.3ReviewofIRLMethodsUnderPartialInformation 128

6.1.3.1Organization 129

6.2Preliminaries 129

6.2.1MarkovDecisionProcesses 129

6.2.2PartiallyObservableMarkovDecisionProcesses 130

6.2.3Specifications 130

6.3ConceptualDescriptionofSharedControl 131

6.4SynthesisoftheAutonomyProtocol 132

6.4.1StrategyBlending 132

6.4.2SolutiontotheSharedControlSynthesisProblem 133

6.4.2.1NonlinearProgrammingFormulationforPOMDPs 133

6.4.2.2StrategyRepairUsingSequentialConvexProgramming 134

6.4.3SequentialConvexProgrammingFormulation 135

6.4.4LinearizingNonconvexProblem 135

6.4.4.1LinearizingNonconvexConstraintsandAddingSlackVariables 135

6.4.4.2TrustRegionConstraints 136

6.4.4.3CompleteAlgorithm 136

6.4.4.4AdditionalSpecifications 136

6.4.4.5AdditionalMeasures 137

6.5NumericalExamples 137

6.5.1ModelingRobotDynamicsasPOMDPs 138

6.5.2GeneratingHumanDemonstrations 138

6.5.3LearningaHumanStrategy 139

6.5.4TaskSpecification 139

6.5.5Results 140

6.6Conclusion 140 Acknowledgments 140 References 140

7ParallelIntelligenceforCPHS:AnACPApproach 145 XiaoWang,JingYang,XiaoshuangLi,andFei-YueWang

7.1BackgroundandMotivation 145

7.2EarlyDevelopmentinChina 147

7.3KeyElementsandFramework 149

7.4OperationandProcess 151

7.4.1ConstructionofArtificialSystems 152

7.4.2ComputationalExperimentsinParallelIntelligentSystems 152

7.4.3Closed-LoopOptimizationBasedonParallelExecution 153

7.5Applications 153

7.5.1ParallelControlandIntelligentControl 154

7.5.2ParallelRoboticsandParallelManufacturing 156

7.5.3ParallelManagementandIntelligentOrganizations 157

7.5.4ParallelMedicineandSmartHealthcare 158

7.5.5ParallelEcologyandParallelSocieties 160

7.5.6ParallelEconomicSystemsandSocialComputing 161

7.5.7ParallelMilitarySystems 163

7.5.8ParallelCognitionandParallelPhilosophy 164

7.6ConclusionandProspect 165 References 165

PartIITransportation 171

8RegularitiesofHumanOperatorBehaviorandItsModeling 173 AleksandrV.Efremov

8.1Introduction 173

8.2TheKeyVariablesinMan–MachineSystems 174

8.3HumanResponses 177

8.4RegularitiesofMan–MachineSysteminManualControl 180

8.4.1Man–MachineSysteminSingle-loopCompensatorySystem 180

8.4.2Man–MachineSysteminMultiloop,Multichannel,andMultimodalTasks 185

8.4.2.1Man–MachineSystemintheMultiloopTrackingTask 185

8.4.2.2Man–MachineSystemintheMultichannelTrackingTask 187

8.4.2.3Man–MachineSysteminMultimodalTrackingTasks 188

8.4.2.4HumanOperatorBehaviorinPursuitandPreviewTrackingTasks 191

8.5MathematicalModelingofHumanOperatorBehaviorinManualControlTask 194

8.5.1McRuer’sModelforthePilotDescribingFunction 194

8.5.1.1Single-LoopCompensatoryModel 194

8.5.1.2MultiloopandMultimodalCompensatoryModel 197

8.5.2StructuralHumanOperatorModel 197

8.5.3PilotOptimalControlModel 199

8.5.4PilotModelsinPreviewandPursuitTrackingTasks 201

8.6ApplicationsoftheMan–MachineSystemApproach 202

8.6.1DevelopmentofCriteriaforFlyingQualitiesandPIOPrediction 203

8.6.1.1CriteriaofFQandPIOPredictionasaRequirementfortheParametersofthe Pilot-AircraftSystem 203

8.6.1.2CalculatedPilotingRatingofFQastheCriteria 205

8.6.2InterfacesDesign 206

8.6.3OptimizationofControlSystemandVehicleDynamicsParameters 210

8.7FutureResearchChallengesandVisions 213

8.8Conclusion 214 References 215

9SafeSharedControlBetweenPilotsandAutopilotsintheFaceof Anomalies 219

EmreEraslan,YildirayYildiz,andAnuradhaM.Annaswamy

9.1Introduction 219

9.2SharedControlArchitectures:ATaxonomy 221

9.3RecentResearchResults 222

9.3.1Autopilot 224

9.3.1.1DynamicModeloftheAircraft 224

9.3.1.2AdvancedAutopilotBasedonAdaptiveControl 225

9.3.1.3AutopilotBasedonProportionalDerivativeControl 228

9.3.2HumanPilot 228

9.3.2.1PilotModelsintheAbsenceofAnomaly 228

9.3.2.2PilotModelsinthePresenceofAnomaly 229

9.3.3SharedControl 230

9.3.3.1SCA1:APilotwithaCfM-BasedPerceptionandaFixed-GainAutopilot 231

9.3.3.2SCA2:APilotwithaCfM-BasedDecision-MakingandanAdvancedAdaptive Autopilot 232

9.3.4ValidationwithHuman-in-the-LoopSimulations 232

9.3.5ValidationofSharedControlArchitecture1 234

9.3.5.1ExperimentalSetup 234

9.3.5.2Anomaly 235

9.3.5.3ExperimentalProcedure 235

9.3.5.4DetailsoftheHumanSubjects 236

9.3.5.5Pilot-ModelParameters 237

x Contents

9.3.5.6ResultsandObservations 237

9.3.6ValidationofSharedControlArchitecture2 240

9.3.6.1ExperimentalSetup 241

9.3.6.2Anomaly 241

9.3.6.3ExperimentalProcedure 242

9.3.6.4DetailsoftheHumanSubjects 243

9.3.6.5ResultsandObservations 244

9.4SummaryandFutureWork 246 References 247

10SafeTeleoperationofConnectedandAutomatedVehicles 251

FrankJ.Jiang,JonasMårtensson,andKarlH.Johansson

10.1Introduction 251

10.2SafeTeleoperation 254

10.2.1TheAdventof5G 258

10.3CPHSDesignChallengesinSafeTeleoperation 259

10.4RecentResearchAdvances 261

10.4.1EnhancingOperatorPerception 261

10.4.2SafeSharedAutonomy 264

10.5FutureResearchChallenges 267

10.5.1FullUtilizationofV2XNetworks 267

10.5.2MixedAutonomyTrafficModeling 268

10.5.35GExperimentation 268

10.6Conclusions 269 References 270

11ChargingBehaviorofElectricVehicles 273 Qing-ShanJiaandTengLong

11.1History,Challenges,andOpportunities 274

11.1.1TheHistoryandStatusQuoofEVs 274

11.1.2TheCurrentChallenge 276

11.1.3TheOpportunities 277

11.2DataSetsandProblemModeling 278

11.2.1DataSetsofEVChargingBehavior 278

11.2.1.1TrendDataSets 279

11.2.1.2DrivingDataSets 279

11.2.1.3BatteryDataSets 279

11.2.1.4ChargingDataSets 279

11.2.2ProblemModeling 281

11.3ControlandOptimizationMethods 284

11.3.1TheDifficultyoftheControlandOptimization 284

11.3.2ChargingLocationSelectionandRoutingOptimization 285

11.3.3ChargingProcessControl 286

11.3.4ControlandOptimizationFramework 287

11.3.4.1CentralizedOptimization 287

11.3.4.2DecentralizedOptimization 288

11.3.4.3HierarchicalOptimization 288

11.3.5TheImpactofHumanBehaviors 289

11.4ConclusionandDiscussion 289 References 290

PartIIIRobotics 299

12Trust-TriggeredRobot–HumanHandoversUsingKinematicRedundancy forCollaborativeAssemblyinFlexibleManufacturing 301 S.M.MizanoorRahman,BehzadSadrfaridpour,IanD.Walker,andYueWang

12.1Introduction 301

12.2TheTaskContextandtheHandover 303

12.3TheUnderlyingTrustModel 304

12.4Trust-BasedHandoverMotionPlanningAlgorithm 305

12.4.1TheOverallMotionPlanningStrategy 305

12.4.2ManipulatorKinematicsandKineticsModels 305

12.4.3DynamicImpactEllipsoid 306

12.4.4TheNovelMotionControlApproach 307

12.4.5IllustrationoftheNovelAlgorithm 308

12.5DevelopmentoftheExperimentalSettings 310

12.5.1ExperimentalSetup 310

12.5.1.1TypeI:CenterConsoleAssembly 310

12.5.1.2TypeII:HoseAssembly 311

12.5.2Real-TimeMeasurementandDisplayofTrust 311

12.5.2.1TypeI:CenterConsoleAssembly 311

12.5.2.2TypeII:HoseAssembly 313

12.5.2.3TrustComputation 313

12.5.3PlanstoExecutetheTrust-TriggeredHandoverStrategy 314

12.5.3.1TypeIAssembly 314

12.5.3.2TypeIIAssembly 314

12.6EvaluationoftheMotionPlanningAlgorithm 315

12.6.1Objective 315

12.6.2ExperimentDesign 315

12.6.3EvaluationScheme 315

12.6.4Subjects 316

12.6.5ExperimentalProcedures 316

12.6.5.1TypeIAssembly 317

12.6.5.2TypeIIAssembly 317

12.7ResultsandAnalyses,TypeIAssembly 318

12.8ResultsandAnalyses,TypeIIAssembly 322

12.9ConclusionsandFutureWork 323

Acknowledgment 324 References 324

13FusingElectricalStimulationandWearableRobotswithHumanstoRestore andEnhanceMobility 329

ThomasSchauer,EduardFosch-Villaronga,andJuanC.Moreno

13.1Introduction 329

13.1.1FunctionalElectricalStimulation 330

13.1.2SpinalCordStimulation 331

13.1.3WearableRobotics(WR) 332

13.1.4FusingFES/SCSandWearableRobotics 334

13.2ControlChallenges 335

13.2.1FeedbackApproachestoPromoteVolition 336

13.2.2PrinciplesofAssist-as-Needed 336

13.2.3TrackingControlProblemFormulation 336

13.2.4Co-operativeControlStrategies 337

13.2.5EMG-andMMG-BasedAssessmentofMuscleActivation 344 13.3Examples 345

13.3.1AHybridRoboticSystemforArmTrainingofStrokeSurvivors 345

13.3.2FirstCertifiedHybridRoboticExoskeletonforGaitRehabilitationSettings 347

13.3.3BodyWeight-SupportedRoboticGaitTrainingwithtSCS 348

13.3.4ModularFESandWearableRobotstoCustomizeHybridSolutions 348 13.4TransferintoDailyPractice:IntegratingEthical,Legal,andSocietalAspects intotheDesign 350

13.5SummaryandOutlook 352 Acknowledgments 353 Acronyms 353 References 354

14ContemporaryIssuesandAdvancesinHuman–RobotCollaborations 365 TakeshiHatanaka,JunyaYamauchi,MasayukiFujita,andHiroyukiHanda

14.1OverviewofHuman–RobotCollaborations 365

14.1.1TaskArchitecture 366

14.1.2Human–RobotTeamFormation 368

14.1.3HumanModeling:ControlandDecision 369

14.1.4HumanModeling:OtherHumanFactors 371

14.1.5IndustrialPerspective 372

14.1.6WhatIsinThisChapter 375

14.2Passivity-BasedHuman-EnabledMultirobotNavigation 376

14.2.1ArchitectureDesign 377

14.2.2HumanPassivityAnalysis 379

14.2.3HumanWorkloadAnalysis 381

14.3OperationSupportwithVariableAutonomyviaGaussianProcess 383

14.3.1DesignoftheOperationSupportSystemwithVariableAutonomy 385

14.3.2UserStudy 388

14.3.2.1OperationalVerification 388

14.3.2.2UsabilityTest 390

14.4Summary 391

Acknowledgments 393 References 393

PartIVHealthcare 401

15OverviewandPerspectivesontheAssessmentandMitigationofCognitive FatigueinOperationalSettings 403

MikeSalomone,MichelAudiffren,andBrunoBerberian

15.1Introduction 403

15.2CognitiveFatigue 404

15.2.1Definition 404

15.2.2OriginofCognitiveFatigue 404

15.2.3EffectsonAdaptiveCapacities 406

15.3Cyber–PhysicalSystemandCognitiveFatigue:MoreAutomationDoesNotImplyLess CognitiveFatigue 406

15.4AssessingCognitiveFatigue 409

15.4.1SubjectiveMeasures 409

15.4.2BehavioralMeasures 410

15.4.3PhysiologicalMeasurements 410

15.5LimitationsandBenefitsofTheseMeasures 412

15.6CurrentandFutureSolutionsandCountermeasures 412

15.6.1PhysiologicalComputing:TowardReal-TimeDetectionandAdaptation 412

15.7SystemDesignandExplainability 414

15.8FutureChallenges 415

15.8.1GeneralizingtheResultsObservedintheLaboratorytoEcologicalSituations 415

15.8.2DeterminingtheSpecificityofCognitiveFatigue 415

15.8.3RecoveringfromCognitiveFatigue 417

15.9Conclusion 418

References 419

16EpidemicsSpreadOverNetworks:InfluenceofInfrastructureand Opinions 429 BaikeShe,SebinGracy,ShreyasSundaram,HenrikSandberg,KarlH.Johansson, andPhilipE.Paré

16.1Introduction 429

16.1.1InfectiousDiseases 429

16.1.2ModelingEpidemicSpreadingProcesses 430

16.1.3Susceptible–Infected–Susceptible(SIS)CompartmentalModels 431

16.2EpidemicsonNetworks 432

16.2.1Motivation 432

16.2.2ModelingEpidemicsoverNetworks 433

16.2.3NetworkedSusceptible–Infected–SusceptibleEpidemicModels 434

16.3EpidemicsandCyber–Physical–HumanSystems 436

16.3.1EpidemicandOpinionSpreadingProcesses 437

16.3.2EpidemicandInfrastructure 438

16.4RecentResearchAdvances 439

16.4.1Notation 439

16.4.2EpidemicandOpinionSpreadingProcesses 440

16.4.2.1OpinionsOverNetworkswithBothCooperativeandAntagonisticInteractions 440

16.4.2.2CoupledEpidemicandOpinionDynamics 441

16.4.2.3Opinion-DependentReproductionNumber 443

16.4.2.4Simulations 444

16.4.3EpidemicSpreadingwithSharedResources 445

16.4.3.1TheMulti-VirusSIWSModel 445

16.4.3.2ProblemStatements 447

16.4.3.3AnalysisoftheEradicatedStateofaVirus 448

16.4.3.4PersistenceofaVirus 449

16.4.3.5Simulations 449

16.5FutureResearchChallengesandVisions 450 References 451

17DigitalTwinsandAutomationofCareintheIntensiveCareUnit 457 J.GeoffreyChase,CongZhou,JenniferL.Knopp,KnutMoeller,BalázsBenyo, ThomasDesaive,JenniferH.K.Wong,SannaMalinen,KatharinaNaswall, GeoffreyM.Shaw,BernardLambermont,andYeongS.Chiew

17.1Introduction 457

17.1.1EconomicContext 458

17.1.2HealthcareContext 459

17.1.3TechnologyContext 460

17.1.4OverallProblemandNeed 460

17.2DigitalTwinsandCPHS 461

17.2.1DigitalTwin/VirtualPatientDefinition 461

17.2.2RequirementsinanICUContext 463

17.2.3DigitalTwinModelsinKeyAreasofICUCareandRelativetoRequirements 464

17.2.4ReviewofDigitalTwinsinAutomationofICUCare 466

17.2.5Summary 467

17.3RoleofSocial-BehavioralSciences 467

17.3.1Introduction 467

17.3.2BarrierstoInnovationAdoption 467

17.3.3ErgonomicsandCodesign 468

17.3.4Summary(KeyTakeaways) 469

17.4FutureResearchChallengesandVisions 470

17.4.1TechnologyVisionoftheFutureofCPHSinICUCare 470

17.4.2Social-BehavioralSciencesVisionoftheFutureofCPHSinICUCare 471

17.4.3JointVisionoftheFutureandChallengestoOvercome 473

17.5Conclusions 473 References 474

PartVSociotechnicalSystems 491

18OnlineAttentionDynamicsinSocialMedia 493

MariaCastaldo,PaoloFrasca,andTommasoVenturini

18.1IntroductiontoAttentionEconomyandAttentionDynamics 493

18.2OnlineAttentionDynamics 494

18.2.1CollectiveAttentionIsLimited 494

18.2.2SkewedAttentionDistribution 495

18.2.3TheRoleofNovelty 496

18.2.4TheRoleofPopularity 496

18.2.5IndividualActivityIsBursty 499

18.2.6RecommendationSystemsAretheMainGatewaysforInformation 500

18.2.7ChangeIstheOnlyConstant 500

18.3TheNewChallenge:UnderstandingRecommendationSystemsEffectinAttention Dynamics 501

18.3.1ModelDescription 502

18.3.2ResultsandDiscussion 503

18.4Conclusion 505 Acknowledgments 505 References 505

19Cyber–Physical–SocialSystemsforSmartCity 511

GangXiong,NoreenAnwar,PeijunYe,XiaoyuChen,HongxiaZhao,YishengLv, FenghuaZhu,HongxinZhang,XuZhou,andRyanW.Liu

19.1Introduction 511

19.2SocialCommunityandSmartCities 513

19.2.1SmartInfrastructure 513

19.2.2SmartEnergy 515

19.2.3SmartTransportation 515

19.2.4SmartHealthcare 517

19.3CPSSConcepts,Tools,andTechniques 518

19.3.1CPSSConcepts 518

19.3.2CPSSTools 519

19.3.3CPSSTechniques 520

19.3.3.1IoTinSmartCities 520

19.3.3.2BigDatainSmartCities 525

19.4RecentResearchAdvances 528

19.4.1RecentResearchAdvancesofCASIA 528

19.4.2RecentResearchinEuropeanUnion 531

19.4.3FutureResearchChallengesandVisions 533

19.5Conclusions 537

Acknowledgments 538

References 538

PartVIConcludingRemarks 543

20ConclusionandPerspectives 545

AnuradhaM.Annaswamy,PramodP.Khargonekar,FrançoiseLamnabhi-Lagarrigue, andSarahK.Spurgeon

20.1BenefitstoHumankind:SynthesisoftheChaptersandtheirOpenDirections 545

20.2SelectedAreasforCurrentandFutureDevelopmentinCPHS 547

20.2.1DriverModelingfortheDesignofAdvancedDriverAssistanceSystems 547

20.2.2CognitiveCyber–PhysicalSystemsandCPHS 547

20.2.3Emotion–CognitionInteractions 548

20.3EthicalandSocialConcerns:FewDirections 549

20.3.1FrameworksforEthics 550

20.3.2TechnicalApproaches 550

20.4Afterword 551

References 551

Index 555

ANotefromtheSeriesEditor

WelcometotheWiley–IEEEPressSeriesonTechnologyManagement,Innovation,andLeadership!

TheIEEEPressimprintofJohnWiley&Sonsiswellknownforitsbooksontechnicalandengineeringtopics.Thisnewseriesextendsthereachoftheimprint,fromengineeringandscientific developmentstoinnovationandbusinessmodels,policyandregulation,andultimatelytosocietal impact.Forthosewhoareseekingtomakeapositivedifferenceforthemselves,theirorganization, andtheworld,technologymanagement,innovation,andleadershipareessentialskillstohome. Theworldtodayisincreasinglytechnologicalinmanyways.Yet,whilescientificandtechnical breakthroughsremainimportant,itisconnectingthedotsfrominventiontoinnovationtothe bettermentofhumanityandourecospherethathasbecomeincreasinglycritical.Whetheritis climatechangeorwatermanagementorspaceexplorationorglobalhealthcare,atechnological breakthroughisjustthefirststep.Furtherrequirementscanincludeprototypingandvalidation, systemorecosystemintegration,intellectualpropertyprotection,supply/valuechainset-up,manufacturingcapacity,regulatoryandcertificationcompliance,marketstudies,distributionchannels, costestimationandrevenueprojection,environmentalsustainabilityassessment,andmore.The time,effort,andfundingrequiredforrealizingreal-worldimpactdwarfwhatwasexpendedonthe invention.Therearenogenericanswerstothebig-picturequestionseither,theconsiderationsvary byindustrysector,technologyarea,geography,andotherfactors.

Volumesintheserieswilladdressrelatedtopicsbothingeneral–e.g.frameworksthatcanbe appliedacrossmanyindustrysectors–andinthecontextofoneormoreapplicationdomains. Examplesofthelatterincludetransportationandenergy,smartcitiesandinfrastructure,and biomedicineandhealthcare.Theseriesscopealsocoverstheroleofgovernmentandpolicy, particularlyinaninternationaltechnologicalcontext.

With30yearsofcorporateexperiencebehindmeandaboutfiveyearsnowintheroleofleading aManagementofTechnologyprogramatauniversity,Iseeabroad-basedneedforthisseriesthat extendsacrossindustry,academia,government,andnongovernmentalorganization.Weexpectto producetitlesthatarerelevantforresearchers,practitioners,educators,andothers.

Iamhonoredtobeleadingthisimportantandtimelypublicationventure.

TariqSamad

SeniorFellowandHoneywell/W.R.SweattChairinTechnologyManagement DirectorofGraduateStudies,M.S.ManagementofTechnology TechnologicalLeadershipInstitute|UniversityofMinnesota samad@iccc.org

AbouttheEditors

Dr.AnuradhaM.Annaswamy isfounderanddirectoroftheActive-AdaptiveControlLaboratory intheDepartmentofMechanicalEngineeringatMIT.Herresearchinterestsspanadaptivecontrol theoryanditsapplicationstoaerospace,automotive,propulsion,energysystems,smartgrids,and smartcities.Shehasreceivedbestpaperawards(Axelby;CSM),aswellasDistinguishedMember andDistinguishedLecturerawardsfromtheIEEEControlSystemsSociety(CSS)andaPresidential YoungInvestigatorawardfromNSF.SheisaFellowofIEEEandIFAC.Sheistherecipientof theDistinguishedAlumniawardfromIndianInstituteofSciencefor2021.Sheistheauthorofa graduatetextbookonadaptivecontrol,coeditoroftwovisiondocumentsonsmartgridsandtwo editionsoftheImpactofControlTechnologyreport,andacoauthoroftwoNationalAcademyof Sciences,Engineering,andMedicineCommitteereportsrelatedtoelectricitygrids.Sheservedas thePresidentofCSSin2020.

PramodP.Khargonekar isvicechancellorforResearchandDistinguishedProfessorofElectrical EngineeringandComputerScienceattheUniversityofCalifornia,Irvine.Hewaschairmanofthe DepartmentofElectricalEngineeringandComputerScienceattheUniversityofMichigan,deanof theCollegeofEngineeringattheUniversityofFlorida,andwasassistantdirectorfortheDirectorate ofEngineeringattheNationalScienceFoundationHehasreceivednumeroushonorsandawards includingIEEEControlSystemsAward,IEEEBakerPrize,IEEEControlSystemsSocietyBode LecturePrize,IEEEControlSystemsAxelbyAward,NSFPresidentialYoungInvestigatorAward, AACCEckmanAward,andisaFellowofIEEE,IFAC,andAIAA.

FrançoiseLamnabhi-Lagarrigue,IFACFellow,isCNRSEmeritusDistinguishedResearch Fellow,CentraleSupelec,Paris-SaclayUniversity.SheobtainedtheHabilitationDoctoratedegree in1985.Hermainrecentresearchinterestsincludeobserverdesign,performance,androbustness issuesincontrolsystems.Shehassupervised26PhDtheses.ShefoundedandchairedtheEECI InternationalGraduateSchoolonControl.Sheistheeditor-in-chiefof AnnualReviewsinControl Sheistheprizewinnerofthe2008FrenchAcademyofScienceMichelMonpetitprizeandthe 2019IrèneJoliot-Curieprize,WomanScientistoftheYear.SheisknightoftheLegionofHonor andofficeroftheNationalOrderofMerit.

SarahK.Spurgeon isheadoftheDepartmentofElectronicandElectricalEngineeringandprofessorofControlEngineeringatUCL.Sheiscurrentlyvice-president(publications)fortheInternationalFederationofAutomaticControlandeditor-in-chiefofIEEEPress.Shewasawardedthe HoneywellInternationalMedalfor“distinguishedcontributionasacontrolandmeasurement technologisttodevelopingthetheoryofcontrol”in2010andanIEEEMillenniumMedalin2000. WithintheUnitedKingdom,sheisafellowoftheRoyalAcademyofEngineering(2008)andwas awardedanOBEforservicestoengineeringin2015.

ListofContributors

KumarAkash

HondaResearchInstituteUSA,Inc.

SanJose CA USA

AnuradhaM.Annaswamy DepartmentofMechanicalEngineering MassachusettsInstituteofTechnology

Cambridge

MA

USA

NoreenAnwar

TheStateKeyLaboratoryforManagementand ControlofComplexSystems InstituteofAutomation ChineseAcademyofSciences

Beijing China

MichelAudiffren CentredeRecherchessurlaCognitionet l’Apprentissage,UMRCNRS7295 UniversitédePoitiers Poitiers

France

BalázsBenyó DepartmentofControlEngineeringand InformationTechnology BudapestUniversityofTechnologyand Economics

Budapest

Hungary

BrunoBerberian InformationProcessingandSystems Department ONERA Salon-de-Provence

France

MingCao FacultyofScienceandEngineering UniversityofGroningen

Groningen

TheNetherlands

MariaCastaldo UniversitéGrenobleAlpes CNRS,Inria,GrenobleINP GIPSA-lab

Grenoble

France

J.GeoffreyChase DepartmentofMechanicalEngineering CentreforBio-Engineering UniversityofCanterbury Christchurch NewZealand

xx ListofContributors

XiaoyuChen

TheStateKeyLaboratoryforManagementand ControlofComplexSystems InstituteofAutomation ChineseAcademyofSciences

Beijing China and SchoolofArtificialIntelligence UniversityofChineseAcademyofSciences Beijing China

YeongS.Chiew DepartmentofMechanicalEngineering SchoolofEngineering MonashUniversityMalaysia Selangor Malaysia

MuratCubuktepe DematicCorp.

Austin TX USA

ThomasDesaive GIGAInSilicoMedicine LiegeUniversity Liege Belgium

AleksandrV.Efremov DepartmentofAeronauticalEngineering MoscowAviationInstitute NationalResearchUniversity Moscow RussianFederation

EmreEraslan DepartmentofMechanicalScience& Engineering

UniversityofIllinoisatUrbana-Champaign Urbana-Champaign IL USA

EduardFosch-Villaronga eLawCenterforLawandDigitalTechnologies

LeidenUniversity Leiden TheNetherlands

PaoloFrasca UniversityGrenobleAlpes CNRS,Inria,GrenobleINP GIPSA-lab

Grenoble France

MasayukiFujita DepartmentofInformationPhysicsand Computing TheUniversityofTokyo

Tokyo

Japan

SebinGracy DepartmentofElectricalandComputer Engineering

RiceUniversity

Houston TX

USA

HiroyukiHanda TsukubaResearchLaboratory YASKAWAElectricCorporation Tsukuba Ibaraki Japan

TakeshiHatanaka DepartmentofSystemsandControl Engineering SchoolofEngineering

TokyoInstituteofTechnology

Tokyo Japan

JacobHunter

SchoolofMechanicalEngineering

PurdueUniversity WestLafayette IN USA

NeeraJain SchoolofMechanicalEngineering PurdueUniversity WestLafayette IN USA

NilsJansen DepartmentofSoftwareScience InstituteforComputingandInformation Science RadboudUniversityNijmegen Nijmegen TheNetherlands

Qing-ShanJia DepartmentofAutomation CenterforIntelligentandNetworkedSystems (CFINS)

BeijingNationalResearchCenterfor InformationScienceandTechnology(BNRist) TsinghuaUniversity Beijing China

FrankJ.Jiang DivisionofDecisionandControlSystems, DepartmentofIntelligentSystems,EECS KTHRoyalInstituteofTechnology Stockholm Sweden

VictorDíazBenitoJiménez UniversityofAlcalá UniversityCampus-Calle19 Madrid Spain

KarlH.Johansson DivisionofDecisionandControlSystems, DepartmentofIntelligentSystems,EECS KTHRoyalInstituteofTechnology

Stockholm

Sweden

PramodP.Khargonekar DepartmentofElectricalEngineeringand ComputerScience UniversityofCalifornia Irvine CA USA

JenniferL.Knopp DepartmentofMechanicalEngineering CentreforBio-Engineering UniversityofCanterbury Christchurch NewZealand

BernardLambermont DepartmentofIntensiveCare CHUdeLiege Liege

Belgium

FrançoiseLamnabhi-Lagarrigue CNRS CentraleSupelec UniversityofParis-Saclay Gif-sur-Yvette France

XiaoshuangLi

TheStateKeyLaboratoryforManagementand ControlofComplexSystems InstituteofAutomation

ChineseAcademyofSciences

Beijing China and TheSchoolofArtificialIntelligence UniversityofChineseAcademyofSciences

Beijing China

RyanW.Liu DepartmentofNavigationEngineering SchoolofNavigation,SchoolofComputer ScienceandArtificialIntelligence WuhanUniversityofTechnology Wuhan

China

TengLong DepartmentofAutomation CenterforIntelligentandNetworkedSystems (CFINS)

BeijingNationalResearchCenterfor InformationScienceandTechnology(BNRist) TsinghuaUniversity

Beijing China

YishengLv

TheStateKeyLaboratoryforManagementand ControlofComplexSystems InstituteofAutomation

ChineseAcademyofSciences

Beijing China

SannaMalinen DeparmentofManagement,Marketing,and Entrepreneurship UniversityofCanterbury Christchurch NewZealand

JonasMårtensson DivisionofDecisionandControlSystems, DepartmentofIntelligentSystems,EECS KTHRoyalInstituteofTechnology

Stockholm Sweden

KnutMoeller DepartmentofBiomedicalEngineering InstituteofTechnicalMedicine FurtwangenUniversity Villingen-Schwenningen Germany

JuanC.Moreno NeuralRehabilitationGroup TranslationalNeuroscienceDepartment CajalInstitute

SpanishNationalResearchCouncil

Madrid Spain

VineetJagadeesanNair DepartmentofMechanicalEngineering MassachusettsInstituteofTechnology

Cambridge MA

USA

KatharinaNaswall SchoolofPsychology,SpeechandHearing UniversityofCanterbury Christchurch NewZealand

PhilipE.Paré

ElmoreFamilySchoolofElectricaland ComputerEngineering PurdueUniversity WestLafayette IN USA

S.M.MizanoorRahman DepartmentofMechanicalEngineering PennsylvaniaStateUniversity Dunmore PA USA

TahiraReid MechanicalEngineeringandEngineering Design

ThePennsylvaniaStateUniversity StateCollege PA USA

BehzadSadrfaridpour DepartmentofMechanicalEngineering ClemsonUniversity Clemson SC USA

MikeSalomone

LaboratoiredePsychologieetNeuroCognition Univ.GrenobleAlpes Univ.SavoieMontBlanc,CNRS Grenoble France

TariqSamad TechnologicalLeadershipInstitute UniversityofMinnesota Minneapolis MN USA

HenrikSandberg DivisionofDecisionandControlSystems, DepartmentofIntelligentSystems,EECS KTHRoyalInstituteofTechnology

Stockholm Sweden

ThomasSchauer DepartmentofElectricalEngineeringand ComputerScience ControlSystemsGroup TechnischeUniversitätBerlin Berlin Germany

GeoffreyM.Shaw DepartmentofIntensiveCare ChristchurchHospital Christchurch NewZealand

BaikeShe DepartmentofMechanicalandAerospace Engineering UniversityofFlorida Gainesville FL USA

SarahK.Spurgeon DepartmentofElectronicandElectrical Engineering UniversityCollegeLondon London UK

ShreyasSundaram ElmoreFamilySchoolofElectricaland ComputerEngineering PurdueUniversity WestLafayette IN USA

UfukTopcu DepartmentofAerospaceEngineeringand EngineeringMechanics

OdenInstituteforComputationalEngineering andScience

TheUniversityofTexasatAustin Austin TX USA

FrédéricVanderhaegen

DepartmentonAutomaticControland Human-MachineSystems

UniversitéPolytechniqueHauts-de-France, LAMIHlab

UMRCNRS8201

Valenciennes

France and INSAHauts-de-France Valenciennes

France

TommasoVenturini Medialab UniversitédeGenève

Geneva

Switzerland and CentreInternetetSocieté CNRS

Paris

France

IanD.Walker DepartmentofElectricalandComputer Engineering

ClemsonUniversity

Clemson SC USA

Fei-YueWang

TheStateKeyLaboratoryforManagementand ControlofComplexSystems InstituteofAutomation

ChineseAcademyofSciences

Beijing China

XiaoWang

TheStateKeyLaboratoryforManagementand ControlofComplexSystems InstituteofAutomation

ChineseAcademyofSciences

Beijing China YueWang DepartmentofMechanicalEngineering

ClemsonUniversity

Clemson SC

USA

JenniferH.K.Wong SchoolofPsychology,SpeechandHearing UniversityofCanterbury

Christchurch

NewZealand

GangXiong

TheBeijingEngineeringResearchCenterof IntelligentSystemsandTechnology InstituteofAutomation ChineseAcademyofSciences

Beijing China and TheGuangdongEngineeringResearchCenter of3DPrintingandIntelligentManufacturing TheCloudComputingCenter ChineseAcademyofSciences

Beijing China

JunyaYamauchi

GraduateSchoolofInformationScienceand Technology DepartmentofInformationPhysicsand Computing

TheUniversityofTokyo

Tokyo Japan

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