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.
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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
