Decentralized cyber-physical system

A decentralized cyber-physical system, comprising:

• a managing unit comprising a root resilience manager for monitoring at least one property of the decentralized cyber-physical system;
• and
• a plurality of components disposed in a physical space and connected to the root resilience manager,
• wherein the root resilience manager comprises:
• a root contract;
• and
• a sub-contract generator configured to decompose the root contract into a plurality of sub-contracts and assign the plurality of sub-contracts to the plurality of components, respectively,
• wherein each of the plurality of components comprises at least one observer configured to monitor if at least one property of the individual component violates the sub-contracts corresponding thereto, wherein when one of the plurality of sub-contracts violates during the runtime of the decentralized cyber-physical system, the root resilience manager issues an alarm;
• wherein the sub-contract generator comprises at least one algorithm, and a non-functional formula and a dependency graph are taken as two inputs of the at least one algorithm;
• wherein the decentralized cyber-physical system is a synchronous system with a global clock, and each of the plurality of components includes one process and has a minimum response time, wherein the root-contract is decomposed and unwound into the plurality of sub-contracts by the non-functional formula:
• pi=p−[Σj=i+1n−1(RTmin(Cj))]
• wherein pi is a timing parameter for the sub-contract of the corresponding component, p is an original timing parameter of the decentralized cyber-physical system, RTmin is the minimum response time of the corresponding component, Cj are the plurality of sub-contracts, and n is the total number of the plurality of components.