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A Conceptual Model of System of Systems A Conceptual Model of System of Systems Werner Damm Alberto Sangiovanni Vincentelli OFFIS University of California at Berkeley Escherweg 2 Department of EECS, 515 Cory Oldenburg, Germany Berkeley, CA 94720, USA +49-441-9722-500 +1 510 642 4882 [email protected] [email protected] ABSTRACT Finally, the concept of Swarm has been recently introduced where In this paper, we present the essential features of CPS Systems of many of the aspects quoted above come together. As pointed out Systems (SoS) and we develop a conceptual, rigorous model for in [38], industry observers predict that by 2020 there will be such systems that can support the development of analysis and thousands of smart sensing devices per person on the planet; if so, synthesis tools. We also address issues related to safety critical we will be immersed in a sea of input and output devices that are and secure applications and we outline how to cope with failures embedded in the environment around us and on or in our bodies. of SoS. The concept of wireless sensor networks is not new. Sensor-based systems have been proposed and deployed for a broad range of Categories and Subject Descriptors monitoring (and even actuation) applications. But the vast H.1.1 [Systems and Information Theory]: General systems majority of those are targeting a single application or function. theory; I.6.0 [Simulation and Modelling]: General I.6.5 [Model The potential of swarms goes far beyond what has been Development]: Modeling Methodologies accomplished so far. When realized in full, these technologies will seamlessly integrate the “cyber" world (centered today in “the General Terms cloud") with our physical/biological world, effectively blurring Theory, Design, Verification the gap between the two. We refer to such networked sensors and actuators as the “swarm at the edge of the cloud," and the Keywords emerging global cyber-physical network as the “TerraSwarm," Systems of Systems, Models, Formal Methods. encompassing trillions of sensors and actuators deployed across the earth. 1. INTRODUCTION To achieve this vision, many fundamental problems have to be In recent years, there has been a frenzy about the potential of solved to prevent potentially catastrophic outcomes of systems interconnecting billions of devices across the entire world. Terms that are so complex to manage. In this respect, IoE, CPS and such the Cyber Physical Systems, Internet of Things, Internet of Swarms need to be considered as evolving systems that are Everything, and Swarm Systems have been the object of intense formed of many subsystems that are made to cooperate to reach a research and industrial interest. The market numbers that are goal. The aspects of evolution and cooperation are fully captured circulating are staggering, in the order of trillions of dollars 1 in an older concept: Systems of Systems (SoS). In our opinion, opportunities for the industry. The IBM Smarter Planet initiative systems of the complexity presented above have to be considered is a perfect example of the potential reach of these systems: “At as SoS to make their design and operation feasible. IBM, we want that intelligence to be infused into the systems and processes that make the world work—into things no one would The term System of Systems in its more basic form describes a recognize as computers: cars, appliances, roadways, power grids, collection of components that are themselves systems designed clothes, even natural systems such as agriculture and waterways.” independently and yet in the SoS context are to achieve a common goal. Based on this ‘fractal’ description, we can imagine that a Albeit the original concept of Internet of Things refers to objects component system is itself a SoS until we reach a level of that are connected with a wireless or wired network using all or abstraction that one considers the basis of the construction. While part of the Internet protocol (in particular IP), the term is now this is a conceptually interesting view, it is too generic to convey used in a much broader terms where any combination of sensors, the importance of the problems addressed and the potential actuators and computing devices are connected with or without offered by a SoS. humans in the loop to achieve a goal yielding the concept of Internet of Everything: “Cisco defines the Internet of Everything 1.1 State of the Art (IoE) as bringing together people, process, data, and things to The most well-known modeling work in SoS is currently make networked connections more relevant and valuable than undertaken by the US Department of Defense (DoD) and UK ever before-turning information into actions that create new Ministry of Defense (MOD) through their architectural capabilities, richer experiences, and unprecedented economic frameworks - Department of Defense Architecture Framework 2 opportunity for businesses, individuals, and countries” . (DoDAF) and the Ministry of Defense Architecture Framework Focusing on the interaction between the physical and the (MODAF) respectively. These have since been unified in the computing worlds, Cyber Physical Systems (CPS) are also part of OMG 2005 Unified Profile for DoDAF/MODAF [1], and are the recent evolutions. UML profiles specifically intended for capturing most of the important aspects of SoS mainly for military applications. Since then, the SoS domain has gained attention from research and 1 http://www.ibm.com/smarterplanet/us/en/?ca=v_smarterplanet industrial communities, and has today reached a dominant level 2 http://www.cisco.com/web/about/ac79/innov/IoE.html where the potential of SoS to address civil applications can be more work to do. In fact, for us, it is not enough to be able to considered. capture the behavior of SoS with formal languages to reason about In the literature there are numerous definitions of what constitutes properties of SoS and verify whether specifications are met and to a SoS [3-5]. A decade ago, Maier [6], who is considered the operate SoS efficiently when deployed in an evolving “father” of SoS, noted that the term system-of-systems did not environment. Rather a mathematical formalism should be have a clear and accepted definition. However, he acknowledged developed that captures the entire aspects of the definitions that the SoS idea was widespread and generally recognized. He presented in this section. cited a number of examples such as integrated air defense networks, the Internet, intelligent transport systems, and enterprise 1.2 Motivations and contribution information networks, which are an emergent class of systems We argued that the SoS field has suffered from lack of appropriate comprising large-scale systems in their own right. Furthermore, he formalism: most of the definitions and frameworks are based on stated “Systems-of-systems should be distinguished from large but informal considerations and tools are mostly related to monolithic systems by (1) the independence of their components, structure/syntax rather than behavior/semantics. (2) their evolutionary nature, (3) emergent behaviors, and (4) a To make a difference, we took a different view on SoS that geographic extent that limits the interaction of their components includes the informal characteristics identified in the literature but to information exchange. Even within these properties there are is grounded on a rigorous conceptual framework based on further subdivisions. For example, a distinction between systems mathematical principles so that the following goals can be which are organized and managed to express particular functions, achieved: and those in which desired behaviors must emerge through 1. SoS and their properties are defined in unambiguous terms so voluntary and collaborative interaction.” This led to the that the research and industrial community can exchange ideas characterization of a SoS into five important dimensions, where and results in an easier way than it has been possible until the first of the four characteristics listed above has been split into today; operational and managerial independence [6] [7]. 2. Verification is made possible; 3. Tools can be developed; Additional definitions have been attempted: “There is not one SoS 4. Design flows and methodologies can be established; that is a one-time new start, as a single information system 5. Industry can develop products and services that have project. Rather a SoS more typically will be assembled from guaranteed properties and exclude unwanted behaviors. shared reusable components and with many existing systems independently developed for other and various missions.”[9] The paper is organized as follows: We begin in Section 2 with the [10][11]. However, these definitions/characterizations of a SoS description of the conceptual framework using as much as are not without problems. Each definition has its own relevance possible a rigorous formulation. Then we develop in Section 3 the with respect to the application. Also, we note that in the preceding concept of beliefs of the components of the SoS about the definitions there is no direct mention of the requirement for environment, their relationship to reality and the consequences of collaboration and co-ordination between systems. Interestingly, a inadequate precision including security threats. In Section 4, we more restrictive and quite early definition of a SoS provided by discuss the use of the conceptual model with particular focus on HP comes to the rescue: “Large scale concurrent and distributed coping with failures and we outline future work . systems, the components of which are complex systems themselves (e.g. enterprise networks)” [12]. In essence this refers 2. THE CONCEPTUAL FRAMEWORK to the communications and interactions between the elements of Summarizing the concepts available from the SoS literature the the SoS. The elements are perceived to be complex systems, following characteristics are important [37]: which by communicating with other complex systems form a SoS. 1. Operational independence of the elements: The constituent Also, SoS may overlap with other SoS.
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