Cyber-Physical-Human Systems E-Book

• Herausgeber: John Wiley & Sons
• Kategorie: Wissenschaft und neue Technologien
• Serie: IEEE Press Series on Technology Management, Innovation, and Leadership
• Sprache: Englisch

Seitenzahl: 1379

Veröffentlichungsjahr: 2023

Beschreibung

Cyber-Physical-Human Systems A comprehensive edited volume exploring the latest in the interactions between cyber-physical systems and humans In Cyber-Physical-Human Systems: Fundamentals and Applications, a team of distinguished researchers delivers a robust and up-to-date volume of contributions from leading researchers on Cyber-Physical-Human Systems, an emerging class of systems with increased interactions between cyber-physical, and human systems communicating with each other at various levels across space and time, so as to achieve desired performance related to human welfare, efficiency, and sustainability. The editors have focused on papers that address the power of emerging CPHS disciplines, all of which feature humans as an active component during cyber and physical interactions. Articles that span fundamental concepts and methods to various applications in engineering sectors of transportation, robotics, and healthcare and general socio-technical systems such as smart cities are featured. Together, these articles address challenges and opportunities that arise due to the emerging interactions between cyber-physical systems and humans, allowing readers to appreciate the intersection of cyber-physical system research and human behavior in large-scale systems. In the book, readers will also find: * A thorough introduction to the fundamentals of cyber-physical-human systems * In-depth discussions of cyber-physical-human systems with applications in transportation, robotics, and healthcare * A comprehensive treatment of socio-technical systems, including social networks and smart cities Perfect for cyber-physical systems researchers, academics, and graduate students, Cyber-Physical-Human Systems: Fundamentals and Applications will also earn a place in the libraries of research and development professionals working in industry and government agencies.

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Editor in Chief

Jón Atli Benediktsson

Behzad Razavi

Jeffrey Reed

Anjan Bose

Jim Lyke

Diomidis Spinellis

James Duncan

Hai Li

Adam Drobot

Amin Moeness

Brian Johnson

Tom Robertazzi

Desineni Subbaram Naidu

AhmetMurat Tekalp

Cyber–Physical–Human Systems

Fundamentals and Applications

Edited by

Anuradha M. AnnaswamyMassachusetts Institute of TechnologyCambridge, MAUSA

Pramod P. KhargonekarUniversity of CaliforniaIrvine, CAUSA

Françoise Lamnabhi‐LagarrigueCNRS, CentraleSupelec, University of Paris-SaclayGif‐sur‐YvetteFrance

Sarah K. SpurgeonUniversity College LondonLondonUK

IEEE Press Series on Technology Management, Innovation, and Leadership

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Library of Congress Cataloging‐in‐Publication Data:

Names: Annaswamy, Anuradha M., 1956‐ contributor. | Khargonekar, P.  (Pramod), contributor. | Lamnabhi‐Lagarrigue, F. (Françoise), 1953‐  contributor. | Spurgeon, Sarah K, contributor.Title: Cyber–physical–human systems : fundamentals and applications /  Anuradha M. Annaswamy, Massachusetts Institute of Technology, Cambridge,  MA, USA, Pramod P. Khargonekar, University of California, Irvine, CA,  USA, Françoise Lamnabhi‐Lagarrigue, CNRS, CentraleSupelec, Gif‐sur‐Yvette, France, Sarah K. Spurgeon,  University College, London, London, UK.Description: First edition. | Hoboken, New Jersey : Wiley, [2023] |  Includes bibliographical references and index.Identifiers: LCCN 2022058865 (print) | LCCN 2022058866 (ebook) | ISBN  9781119857402 (hardback) | ISBN 9781119857419 (adobe pdf) | ISBN  9781119857426 (epub)Subjects: LCSH: Human‐machine systems. | Sociotechnical systems. |  Cooperating objects (Computer systems)Classification: LCC TA167 .C885 2023 (print) | LCC TA167 (ebook) | DDC  620.8/2–dc23/eng/20230111LC record available at https://lccn.loc.gov/2022058865LC ebook record available at https://lccn.loc.gov/2022058866

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About the Editors

Dr. Anuradha M. Annaswamy is founder and director of the Active‐Adaptive Control Laboratory in the Department of Mechanical Engineering at MIT. Her research interests span adaptive control theory and its applications to aerospace, automotive, propulsion, energy systems, smart grids, and smart cities. She has received best paper awards (Axelby; CSM), as well as Distinguished Member and Distinguished Lecturer awards from the IEEE Control Systems Society (CSS) and a Presidential Young Investigator award from NSF. She is a Fellow of IEEE and IFAC. She is the recipient of the Distinguished Alumni award from Indian Institute of Science for 2021. She is the author of a graduate textbook on adaptive control, coeditor of two vision documents on smart grids and two editions of the Impact of Control Technology report, and a coauthor of two National Academy of Sciences, Engineering, and Medicine Committee reports related to electricity grids. She served as the President of CSS in 2020.

Pramod P. Khargonekar is vice chancellor for Research and Distinguished Professor of Electrical Engineering and Computer Science at the University of California, Irvine. He was chairman of the Department of Electrical Engineering and Computer Science at the University of Michigan, dean of the College of Engineering at the University of Florida, and was assistant director for the Directorate of Engineering at the National Science Foundation He has received numerous honors and awards including IEEE Control Systems Award, IEEE Baker Prize, IEEE Control Systems Society Bode Lecture Prize, IEEE Control Systems Axelby Award, NSF Presidential Young Investigator Award, AACC Eckman Award, and is a Fellow of IEEE, IFAC, and AIAA.

Françoise Lamnabhi‐Lagarrigue, IFAC Fellow, is CNRS Emeritus Distinguished Research Fellow, CentraleSupelec, Paris‐Saclay University. She obtained the Habilitation Doctorate degree in 1985. Her main recent research interests include observer design, performance, and robustness issues in control systems. She has supervised 26 PhD theses. She founded and chaired the EECI International Graduate School on Control. She is the editor‐in‐chief of Annual Reviews in Control. She is the prizewinner of the 2008 French Academy of Science Michel Monpetit prize and the 2019 Irène Joliot‐Curie prize, Woman Scientist of the Year. She is knight of the Legion of Honor and officer of the National Order of Merit.

Sarah K. Spurgeon is head of the Department of Electronic and Electrical Engineering and professor of Control Engineering at UCL. She is currently vice‐president (publications) for the International Federation of Automatic Control and editor‐in‐chief of IEEE Press. She was awarded the Honeywell International Medal for “distinguished contribution as a control and measurement technologist to developing the theory of control” in 2010 and an IEEE Millennium Medal in 2000. Within the United Kingdom, she is a fellow of the Royal Academy of Engineering (2008) and was awarded an OBE for services to engineering in 2015.

List of Contributors

Kumar Akash

Honda Research Institute USA, Inc.

San Jose

CA

USA

Anuradha M. Annaswamy

Department of Mechanical Engineering

Massachusetts Institute of Technology

Cambridge

MA

USA

Noreen Anwar

The State Key Laboratory for Management and Control of Complex Systems

Institute of Automation

Chinese Academy of Sciences

Beijing

China

Michel Audiffren

Centre de Recherches sur la Cognition et l'Apprentissage, UMR CNRS 7295

Université de Poitiers

Poitiers

France

Balázs Benyó

Department of Control Engineering and Information Technology

Budapest University of Technology and Economics

Budapest

Hungary

Bruno Berberian

Information Processing and Systems Department

ONERA

Salon‐de‐Provence

France

Ming Cao

Faculty of Science and Engineering

University of Groningen

Groningen

The Netherlands

Maria Castaldo

Université Grenoble Alpes

CNRS, Inria, GrenobleINP

GIPSA‐lab

Grenoble

France

J. Geoffrey Chase

Department of Mechanical Engineering

Centre for Bio‐Engineering

University of Canterbury

Christchurch

New Zealand

Xiaoyu Chen

The State Key Laboratory for Management and Control of Complex Systems

Institute of Automation

Chinese Academy of Sciences

Beijing

China

and

School of Artificial Intelligence

University of Chinese Academy of Sciences

Beijing

China

Yeong S. Chiew

Department of Mechanical Engineering

School of Engineering

Monash University Malaysia

Selangor

Malaysia

Murat Cubuktepe

Dematic Corp.

Austin

TX

USA

Thomas Desaive

GIGA In Silico Medicine

Liege University

Liege

Belgium

Aleksandr V. Efremov

Department of Aeronautical Engineering

Moscow Aviation Institute

National Research University

Moscow

Russian Federation

Emre Eraslan

Department of Mechanical Science & Engineering

University of Illinois at Urbana‐Champaign

Urbana‐Champaign

IL

USA

Eduard Fosch‐Villaronga

eLaw Center for Law and Digital Technologies

Leiden University

Leiden

The Netherlands

Paolo Frasca

University GrenobleAlpes

CNRS, Inria, GrenobleINP

GIPSA‐lab

Grenoble

France

Masayuki Fujita

Department of Information Physics and Computing

The University of Tokyo

Tokyo

Japan

Sebin Gracy

Department of Electrical and Computer Engineering

Rice University

Houston

TX

USA

Hiroyuki Handa

Tsukuba Research Laboratory

YASKAWA Electric Corporation

Tsukuba

Ibaraki

Japan

Takeshi Hatanaka

Department of Systems and Control Engineering

School of Engineering

Tokyo Institute of Technology

Tokyo

Japan

Jacob Hunter

School of Mechanical Engineering

Purdue University

West Lafayette

IN

USA

Neera Jain

School of Mechanical Engineering

Purdue University

West Lafayette

IN

USA

Nils Jansen

Department of Software Science

Institute for Computing and Information Science

Radboud University Nijmegen

Nijmegen

The Netherlands

Qing‐Shan Jia

Department of Automation

Center for Intelligent and Networked Systems (CFINS)

Beijing National Research Center for Information Science and Technology (BNRist)

Tsinghua University

Beijing

China

Frank J. Jiang

Division of Decision and Control Systems, Department of Intelligent Systems, EECS

KTH Royal Institute of Technology

Stockholm

Sweden

Victor Díaz Benito Jiménez

University of Alcalá

University Campus ‐ Calle 19

Madrid

Spain

Karl H. Johansson

Division of Decision and Control Systems, Department of Intelligent Systems, EECS

KTH Royal Institute of Technology

Stockholm

Sweden

Pramod P. Khargonekar

Department of Electrical Engineering and Computer Science

University of California

Irvine

CA

USA

Jennifer L. Knopp

Department of Mechanical Engineering

Centre for Bio‐Engineering

University of Canterbury

Christchurch

New Zealand

Bernard Lambermont

Department of Intensive Care

CHU de Liege

Liege

Belgium

Françoise Lamnabhi‐Lagarrigue

CNRS

CentraleSupelec

University of Paris‐Saclay

Gif‐sur‐Yvette

France

Xiaoshuang Li

The State Key Laboratory for Management and Control of Complex Systems

Institute of Automation

Chinese Academy of Sciences

Beijing

China

and

The School of Artificial Intelligence

University of Chinese Academy of Sciences

Beijing

China

Ryan W. Liu

Department of Navigation Engineering

School of Navigation, School of Computer Science and Artificial Intelligence

Wuhan University of Technology

Wuhan

China

Teng Long

Department of Automation

Center for Intelligent and Networked Systems (CFINS)

Beijing National Research Center for Information Science and Technology (BNRist)

Tsinghua University

Beijing

China

Yisheng Lv

The State Key Laboratory for Management and Control of Complex Systems

Institute of Automation

Chinese Academy of Sciences

Beijing

China

Sanna Malinen

Deparment of Management, Marketing, and Entrepreneurship

University of Canterbury

Christchurch

New Zealand

Jonas Mårtensson

Division of Decision and Control Systems, Department of Intelligent Systems, EECS

KTH Royal Institute of Technology

Stockholm

Sweden

Knut Moeller

Department of Biomedical Engineering

Institute of Technical Medicine

Furtwangen University

Villingen‐Schwenningen

Germany

Juan C. Moreno

Neural Rehabilitation Group

Translational Neuroscience Department

Cajal Institute

Spanish National Research Council

Madrid

Spain

Vineet Jagadeesan Nair

Department of Mechanical Engineering

Massachusetts Institute of Technology

Cambridge

MA

USA

Katharina Naswall

School of Psychology, Speech and Hearing

University of Canterbury

Christchurch

New Zealand

Philip E. Paré

Elmore Family School of Electrical and Computer Engineering

Purdue University

West Lafayette

IN

USA

S. M. Mizanoor Rahman

Department of Mechanical Engineering

Pennsylvania State University

Dunmore

PA

USA

Tahira Reid

Mechanical Engineering and Engineering Design

The Pennsylvania State University

State College

PA

USA

Behzad Sadrfaridpour

Department of Mechanical Engineering

Clemson University

Clemson

SC

USA

Mike Salomone

Laboratoire de Psychologie et NeuroCognition

Univ. Grenoble Alpes

Univ. Savoie Mont Blanc, CNRS

Grenoble

France

Tariq Samad

Technological Leadership Institute

University of Minnesota

Minneapolis

MN

USA

Henrik Sandberg

Division of Decision and Control Systems, Department of Intelligent Systems, EECS

KTH Royal Institute of Technology

Stockholm

Sweden

Thomas Schauer

Department of Electrical Engineering and Computer Science

Control Systems Group

Technische Universität Berlin

Berlin

Germany

Geoffrey M. Shaw

Department of Intensive Care

Christchurch Hospital

Christchurch

New Zealand

Baike She

Department of Mechanical and Aerospace Engineering

University of Florida

Gainesville

FL

USA

Sarah K. Spurgeon

Department of Electronic and Electrical Engineering

University College London

London

UK

Shreyas Sundaram

Elmore Family School of Electrical and Computer Engineering

Purdue University

West Lafayette

IN

USA

Ufuk Topcu

Department of Aerospace Engineering and Engineering Mechanics

Oden Institute for Computational Engineering and Science

The University of Texas at Austin

Austin

TX

USA

Frédéric Vanderhaegen

Department on Automatic Control and Human‐Machine Systems

Université Polytechnique Hauts‐de‐France, LAMIH lab

UMR CNRS 8201

Valenciennes

France

and

INSA Hauts‐de‐France

Valenciennes

France

Tommaso Venturini

Medialab

Université de Genève

Geneva

Switzerland

and

Centre Internet et Societé

CNRS

Paris

France

Ian D. Walker

Department of Electrical and Computer Engineering

Clemson University

Clemson

SC

USA

Fei‐Yue Wang

The State Key Laboratory for Management and Control of Complex Systems

Institute of Automation

Chinese Academy of Sciences

Beijing

China

Xiao Wang

The State Key Laboratory for Management and Control of Complex Systems

Institute of Automation

Chinese Academy of Sciences

Beijing

China

Yue Wang

Department of Mechanical Engineering

Clemson University

Clemson

SC

USA

Jennifer H. K. Wong

School of Psychology, Speech and Hearing

University of Canterbury

Christchurch

New Zealand

Gang Xiong

The Beijing Engineering Research Center of Intelligent Systems and Technology

Institute of Automation

Chinese Academy of Sciences

Beijing

China

and

The Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing

The Cloud Computing Center

Chinese Academy of Sciences

Beijing

China

Junya Yamauchi

Graduate School of Information Science and Technology

Department of Information Physics and Computing

The University of Tokyo

Tokyo

Japan

Jing Yang

The State Key Laboratory for Management and Control of Complex Systems

Institute of Automation

Chinese Academy of Sciences

Beijing

China

and

The School of Artificial Intelligence

University of Chinese Academy of Sciences

Beijing

China

Peijun Ye

The State Key Laboratory for Management and Control of Complex Systems

Institute of Automation

Chinese Academy of Sciences

Beijing

China

Yildiray Yildiz

Department of Mechanical Engineering

Bilkent University

Ankara

Turkey

Madeleine Yuh

School of Mechanical Engineering

Purdue University

West Lafayette

IN

USA

Hongxin Zhang

The State Key Laboratory of CAD & CG

Zhejiang University

Hangzhou

China

Hongxia Zhao

The State Key Laboratory for Management and Control of Complex Systems

Institute of Automation

Chinese Academy of Sciences

Beijing

China

Cong Zhou

Department of Mechanical Engineering

Centre for Bio‐Engineering

University of Canterbury

Christchurch

New Zealand

and

School of Civil Aviation

Northwestern Polytechnical University

Taicang

China

Xu Zhou

Computer Network Information Center

Chinese Academy of Sciences

Beijing

China

Fenghua Zhu

The Beijing Engineering Research Center of Intelligent Systems and Technology

Institute of Automation

Chinese Academy of Sciences

Beijing

China

and

The Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing

The Cloud Computing Center

Chinese Academy of Sciences

Beijing

China

Lorenzo Zino

Faculty of Science and Engineering

University of Groningen

Groningen

The Netherlands

Introduction

Anuradha M. Annaswamy1, Pramod P. Khargonekar2, Françoise Lamnabhi-Lagarrigue3, and Sarah K. Spurgeon4

1Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA

2Department of Electrical Engineering and Computer Science, University of California, Irvine, CA, USA

3CNRS, CentraleSupelec, University of Paris-Saclay, Gif-sur-Yvette, France

4Department of Electronic and Electrical Engineering, University College London, London, UK

Cyber–Physical–Human Systems (CPHS) are defined as interconnected systems that include physical systems, computing and communication systems, and humans, and allow these entities to communicate with each other and make decisions across space and time (Sowe et al. 2016). The concept is a natural extension of the notion of Cyber–Physical Systems (CPS) which, for more than 20 years, has successfully enabled multidisciplinary research involving control systems, communications, networking, sensing, and computing to develop new theoretical foundations and addressed several major technological applications. The more recent area of CPHS focuses on the increasing interactions between CPS and humans. CPHS are no different than other engineering systems in terms of functionality: they are collections of various interacting components put together to achieve a specified objective. What distinguishes these systems is their central ingredient: the human. These interactions occur at various levels, and are leading to novel hybrid intelligent systems in almost all sectors in society. They range from physiological signal interaction, to individual cognitive and behavioral interactions with engineered systems in various sectors, to social networks with interactions at various scales between individuals and populations. These systems are being designed to address major technological applications that contribute to human welfare in a wide range of domains, including transportation, aerospace, health and medicine, robotics, manufacturing, energy, and the environment. This perspective is profoundly different from the conventional understanding where humans are treated as isolated elements who operate or benefit from the system. Humans are no longer passive consumers or actors. They are empowered decision‐makers and drive the evolution of the technology. For example, an individual might interact with a robot at home or an autonomous vehicle on the road; a manufacturing firm may integrate robots and intelligent operators to maximize its productivity; and a city or state may leverage smart grid technologies and renewable energy together with control room operators to reach its clean energy goals.

In many of these domains, the interaction in a CPHS between the human and the system requires an in‐depth understanding for the development of novel control technologies. More precisely, in order to succeed in delivering what is required for these applications – i.e. in designing these individual smart systems and coordinating them in a stable, optimal, and economically efficient fashion – CPHS necessitates new concepts, methods, and tools. New problems result from emerging interactions between cyber–physical systems and humans. Categories that have been identified include: (i) human–machine symbiosis (e.g. smart prosthetics, exoskeletons); (ii) humans as supervisors/operators of complex engineering systems (e.g. aircraft pilots, car drivers, process plant operators, robotic surgery operators); (iii) humans as control agents in multiagent systems (e.g. road automation, traffic management, electric grid); (iv) humans as elements in controlled systems (e.g. home comfort control, home security systems); (v) humans working in parallel with digital entities (e.g. digital twins) in both physical and virtual spaces, i.e. parallel intelligence. CPHS also raise a variety of specific technical challenges, including modeling human behavior across a range of levels and control architectures, determining the cognitive science principles needed for the design of autonomous or semiautonomous cyber–physical systems, and identifying key factors that enable cyber–physical systems to augment human performance across a range of interactions. This understanding will enable the best design of the overall system and will achieve useful outcomes for individuals, organizations, and society.

The emerging area of CPHS started around 10 years ago. In particular, a series of successful CPHS workshops (H‐CPS‐I 2014, CPHS 2016, CPHS 2018, CPHS 2020, CPHS 2022), technically co‐sponsored by IEEE CSS and IFAC, have been organized biennially since 2014, stimulated by the CPHS Steering Committee (*). Our vision for this first CPHS edited book is grounded in the idea that CPHS is at an embryonic stage as a possible new discipline which is emerging at the intersection between engineering and social‐behavioral sciences.

Seven chapters describe CPHS concepts, methods, tools, and techniques by focusing on paradigms that explore the integration of engineering and social‐behavioral sciences. Each chapter develops some future research challenges and provides a vision that will be very useful in particular for researchers relatively new to the field. More precisely, in Chapter 1, Human‐in‐the‐Loop Control and Cyber–Physical–Human Systems: Applications and Categorization, four different architectural patterns are differentiated and discussed: human‐in‐the‐plant, human‐in‐the‐controller, human–machine control symbiosis, and humans‐in‐control‐loops; in Chapter 2, Human Behavioral Models Using Utility Theory and Prospect Theory, models of human behavior for characterizing human decisions in the presence of stochastic uncertainties and risks are outlined. In Chapter 3, Social Diffusion Dynamics in Cyber–Physical–Human Systems, a model of multilayer complex networks that captures social diffusion dynamics is presented and possible control actions to accelerate or decelerate the diffusion processes are introduced. Chapter 4, Opportunities and Threats of Interactions Between Humans and Cyber–Physical Systems – Integration and Inclusion Approaches for CPHS, develops a new concept on the inclusion of human systems based on that of the management of dissonance, when discrepancies occur between groups of people or between human and autonomous systems. A new framework where closed‐loop interactions between humans and autonomous systems based on calibration of human cognitive states is also introduced in Chapter 5, Enabling Human‐Aware Autonomy through Cognitive Modeling and Feedback Control. From the basis of a new model of the interaction between the human and the robot, an accurate characterization of human behavior is obtained in Chapter 6, Shared Control with Human Trust and Workload Models; in Chapter 7, Parallel Intelligence for CPHS: An ACP (Artificial societies, Computational experiments, Parallel execution) Approach, is devoted to the presentation of an approach to Parallel Intelligence in order to ensure lifelong developmental AI and ongoing learning through smart infrastructures constructed by CPHS.

In the following parts, key goals and drivers for different important application contexts will be described with five chapters on Transportation (Part 2), three chapters on Robotics (Part 3), three chapters on Healthcare (Part 4), and two chapters on Sociotechnical systems (Part 5). For each of these chapters, the specific CPHS concepts, methods, tools, and techniques that are key to advancing from a technical perspective are delineated, and recent research advances are articulated alongside future research challenges. Visionary perspectives for these application areas are also highlighted.

Part 2 on Transportation starts withChapter 8, Regularities of Human Operator Behavior and its Modeling, which introduces a highly augmented control system with a new generation of interfaces (screens and inceptors) in order to ensure the level of safety required for the use of the vehicle. In Chapter 9, Safe Shared Control Between Pilots and Autopilots in the Face of Anomalies, a taxonomy in flight control gathering various types of interactions between human operators and autonomy are laid out, and different types of responsibility sharing between human operators and autonomy are proposed. Chapter 10, Safe Teleoperation of Connected and Automated Vehicles, surveys the current teleoperation systems that allow remote human operators to effectively supervise a connected vehicle and ensure that the vehicle and its environment remain safe, despite possible issues in the wireless network or human error. Chapter 11, Charging Behavior of Electric Vehicles, reviews the existing paradigm on the charging behavior of electric vehicles as a demand that is necessary to satisfy. It then focuses on the potential opportunity to use electric vehicles as mobile storage and concludes with a study of the large‐scale coordination problem for the charging behaviors of Electric Vehicles.

The next part is dedicated to Robotics. Chapter 12, Trust‐Triggered Robot‐Human Handovers Using Kinematic Redundancy for Collaborative Assembly in Flexible Manufacturing, proposes computational models of robot trust in humans for human–robot collaborative assembly tasks and develops real‐time measurement methods of trust. In Chapter 13, Fusing Neuro‐Prostheses and Wearable Robots with Humans to Restore and Enhance Mobility, the basics of neuro‐prostheses, neuro‐modulation, and wearable robotics are introduced, and recent technological developments with application examples as well as open challenges will be highlighted. The third chapter of this part, Chapter 14, Contemporary Issues and Advances in Human‐Robot Collaborations, gives a comprehensive overview of contemporary issues and recent advances in human–robot collaboration.

Another important application domain of interest in the CPHS framework, Healthcare, is developed in Part 4. The first contribution, Chapter 15,