Review
Cyber-physical systems architectures for industrial internet of things applications in Industry 4.0: A literature review

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Abstract

The industrial scenario is undergoing exponential changes, mainly due to the different technologies that emerge quickly and the ever increasing demand. As a consequence, the number of processing devices and systems in the industries’ architectures is also increasing. Entities connectivity, physical/virtual joint functioning, interactivity, interoperability, self-organization, smart decision making, among other factors are fundamental to foster Industry 4.0 (I4.0) potential. We believe that Cyber Physical System (CPS) and Industrial Internet of Things (IIoT) will have a major role in the emerging I4.0. In this context, researchers and experts from major factories are exploring these technologies in order to keep up with this digital transformation, developing IIoT systems and CPS architectures capable of connecting network devices from different information and communications technologies (ICT) systems, virtualizing the companies’ assets and integrating them with other manufacturing sectors and companies. This article performs a survey covering the main CPS architecture models available in the industrial environment, emphasizing their key characteristics and technologies, as well as the correlations among them, pointing objectives, advantages and contribution for the IIoT introduction in I4.0. It also provides a literature review covering projects from CPSs and IIoT point-of-view, identifying main technologies employed in current state-of-the-art and how they can meet the I4.0 key features of vertical and horizontal industrial integration. Finally, the article points requirements for current and future challenges, limitations, gaps and necessary changes in the CPS architectures in order to improve and introduce them in the I4.0 scenario.

Introduction

The growing need for the increase of the production, efficiency and quality on industrial products led the humans to jointly develop new technologies capable of keeping up with the exponential technology evolution we are experiencing today in production processes [1]. During the eighteenth and nineteenth centuries, the First Industrial Revolution has occurred, mechanizing the production of water and steam energy. Already in the twentieth century, the Second Industrial Revolution introduced electricity into factories, combined with mass production, while the Third Industrial Revolution was marked by the emergence of Computer Numeric Control (CNC) machines, robots, industrial and electronic automation and information technology [2], [3].

In the 21st century, we are driven the Fourth Industrial Revolution, also known as Industry 4.0 [4], [5], [6], which is an initiative that started in Germany to automate production systems efficiently. A connected and smart world has become a reality through the presence of the Internet in all key areas, allowing the emergence of the Internet of Things and Services, capable of networking information, objects, people and resources. For example, in the energy supply sectors, there is the emergence of Smart Grids and in the healthcare one can observe solutions for Smart Health. In the manufacturing perspective, this technological evolution can be described as Industry 4.0.

I4.0 deployment is leveraged by its key features, namely: horizontal integration through value networks, converging information technology systems at different stages of a manufacturing and business planning processes involving data exchange both within a company and between several companies; end-to-end digital integration of engineering across the entire value chain; and vertical integration and networked manufacturing, converging information technology systems at different hierarchical levels for delivering an end-to-end solution. These aspects foster the so called Smart Factory paradigm [7], [8], [9], integrating physical and digital worlds through creation of smart products and processes capable of transforming the conventional value chains, forming the Cyber-Physical Systems [10].

As a consequence, merging Internet of Things and Services [11], [12] and Cyber Physical Systems in I4.0 [13], [14], [15] will impact on industrial processes through the IT-OT convergence in order to promote connected factories [16], [17]. In this context, a challenge is to elaborate a reference architecture model to provide technical description and standards for these technologies integration and implementation. In addition, it is frequently discussed how the CPS proposal and other emerging technologies can be deployed in the I4.0 environment to guarantee vertical and horizontal integration, as well as how to enable interoperability among different companies and sectors of the industry [10].

Faced with this reference architecture challenge, many studies have been carried out from the CPS perspective in the scope of I4.0, standardizing ideal frameworks for its use in the industry. As can be seen in Table 1, there are several literature reviews about CPSs on Smart Manufacturing context, focusing on a variety of topics. In [18], [19], [20], entities communication is approached by introducing Unmanned Aerial Vehicles (UAV) networks, wireless connectivity, Ethernet, Time-Sensitive Networking (TSN) and 5G mobile networks; in [21], [22], [23], [24], a discussion involving security and privacy on CPS systems is performed, also analyzing security vulnerabilities on blockchain; in [25], [26], emerging technologies on CPSs have been analyzed, including cloud computing, mobile robots, wireless sensors and Software Defined Networking (SDN); finally, the CPS approaches in general are reviewed in [27], [28], [29], introducing surveys related to CPS origin and concepts, in addition to CPS technology standards and characteristics on future Smart Factories.

As can be seen in Table 1, the related works are focused on specific issues and topics in the CPS context, but do not bring their impact on the I4.0 perspective, nor discuss how they can embrace its key features. In contrast to previous surveys, this article provides a novel overview about the entire CPS architecture in the scope of I4.0, highlighting current CPS works in the industrial environment and how they can reach the I4.0 key features, such as vertical and horizontal integration [30], [31], [32]. To the best of our knowledge, this paper provides a unique perspective not yet explored in literature. In this context, the article main contributions are:

  • (i)

    A review of the main CPS reference architectures models in I4.0, highlighting their main goals, existing industrial technologies, standards and protocols focusing on Open Platform Communications United Architecture (OPC UA), as well as interoperability and correlation among them. It includes 5C Architecture [33], Reference Architectural Model Industrie 4.0 (RAMI 4.0) [34] and Industrial Internet Reference Architecture (IIRA) [35], which will be detailed in Section 3.

  • (ii)

    A comprehensive literature review on current CPS solutions developed for factories and a detailed analysis and discussion about how these works correlate to the reference architecture models and how they can reach the I4.0 key features, such as the vertical and horizontal integration.

  • (iii)

    A discussion pointing limitations and open issues for the current CPS projects, pointing out possible suggestions to be implemented in order to ensure the improvement of this technology in the industrial scenario and to meet the I4.0 key features in practice.

The remaining of this article is organized as follows. Section 2 provides a brief presentation on Industry 4.0 and IIoT, listing their key concepts and technologies, emphasizing the CPS one, which is the focus of this paper. Section 3 approaches a review of the main CPS reference architecture models for I4.0 (5C Architecture, RAMI 4.0 and IIRA). It is also performed a discussion about the correlation and interoperability among these architectures, in addition to common emerging and legacy technologies, protocols and standards. Section 4 performs a literature review about CPS based on technologies and concepts capable of impacting on I4.0 vertical and horizontal integration. Section 5 presents an analysis about the CPS works, correlating them to the reference architectures described in Section 3 and discussing how they can better meet the key I4.0 features, pointing limitations, open issues and suggestions. Finally, Section 6 concludes this literature review, showing the reader future works and possible improvements in the CPS architectures for their application in Industry 4.0.

Section snippets

Background

This section covers the necessary concepts for the reader's better understanding about the proposed review. It will be approached a brief presentation of the pillars and concepts of Industry 4.0 and IIoT, and an introduction about the CPS technology, which is the focus of this paper.

Review of the CPS reference architecture models

As described in previous sections, I4.0 and IIoT implementations suffer from some limitations, such as security support, connectivity, standardization and interoperability among devices [78], [79], [80]. To address these gaps, some CPS architecture reference models have been standardized. In this section, the main CPS reference architecture will be approached. The methodology used for the selection of these architectures was based on a literature review focused on keywords related to the CPS

Literature review of CPSs projects for Industry 4.0

Based on reference architecture models for Industry 4.0 and IIoT presented in Section 3 [83], [88], [82], some projects emerged to develop CPS projects in the factory environment. A comprehensive analysis of the current industrial CPS works have been performed in order to point their gaps, solutions and suggestions for ensuring I4.0 key features.

For the selection of CPS works state-of-the-art, we have performed a detailed literature review from different publishers that contribute through

Analysis and discussion

Fig. 7 illustrates an evolutionary line of the surveyed projects, as well as the reference architecture models studied. As can be seen, there were already some proposals related to manufacturing virtualization and unique identification for the I4.0 context before the emergence of the CPS reference architecture models. However, these projects also contain ideas and similarities with the proposals disseminated by the reference architectures. In other words, key proposals for architectural

Conclusion and future works

Given the diversity of CPS architecture proposals developed for Industry 4.0 and their divergences while ensuring interoperability among Cyber-Physical Systems, this survey performed a detailed review of CPS architecture reference models, their standards/protocols and the correlation among them, using IIoT as the main pillar in the scenario. Furthermore, this article proposed a literature review of experimental CPS architecture projects and an analysis of the architectural dimensions employed

Declaration of Competing Interest

The authors report no declarations of interest.

Acknowledgments

This work was supported by RNP, with resources from MCTIC, Grant No. 01250.075413/2018-04, under the Radiocommunication Reference Center (Centro de Referência em Radiocomunicações – CRR) project of the National Institute of Telecommunications (Instituto Nacional de Telecomunicações – Inatel), Brazil; in part by the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior – Brasil (CAPES)– Finance Code 001; by FCT/MCTESthrough national funds and when applicable co-funded EU funds under the

Diego Gabriel Soares Pivoto graduate in Control and Automation Engineering at the Instituto Nacional de Telecomunicações (INATEL). Since 2018, he has been acting as Researcher on Information and Communications Technologies (ICT) Laboratory and pursuing Telecommunications Master's degree at INATEL.

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    Diego Gabriel Soares Pivoto graduate in Control and Automation Engineering at the Instituto Nacional de Telecomunicações (INATEL). Since 2018, he has been acting as Researcher on Information and Communications Technologies (ICT) Laboratory and pursuing Telecommunications Master's degree at INATEL.

    Luiz Felipe Fernandes de Almeida is a master's degree student in Telecommunications in the Information and Communications Technologies (ICT) Laboratory at INATEL. Graduated in Control and Automation Engineering at INATEL in 2017. His research interests include smart grid and mission-critical applications, industrial automation, and smart city concepts.

    Rodrigo da Rosa Righi is assistant professor and researcher at University of Vale do Rio dos Sinos, Brazil. Rodrigo concluded his post-doctoral studies at KAIST – Korea Advanced Institute of Science and Technology, under the following topics: RFID and cloud computing. He obtained his PhD degree in Computer Science from the UFRGS University, Brazil, in 2005. His research interests include load balancing and process migration. Finally, he is a member of the IEEE and ACM.

    Joel J. P. C. Rodrigues [S’01, M’06, SM’06, F’20] is a professor at the Federal University of Piauí, Brazil; senior researcher at the Instituto de Telecomunicações, Portugal; and collaborator of the Post-Graduation Program on Teleinformatics Engineering at the Federal University of Ceará (UFC), Brazil. Prof. Rodrigues is the leader of the Next Generation Networks and Applications (NetGNA) research group (CNPq) and an IEEE Distinguished Lecturer. He was Director for Conference Development – IEEE ComSoc Board of Governors, Technical Activities Committee Chair of the IEEE ComSoc Latin America Region Board, a Past-Chair of the IEEE ComSoc Technical Committee on eHealth, and a Past-chair of the IEEE ComSoc Technical Committee on Communications Software. He is the editor-in-chief of the International Journal on E-Health and Medical Communications and editorial board member of several high-reputed journals. He has been general chair and TPC Chair of many international conferences, including IEEE ICC, IEEE GLOBECOM, IEEE HEALTHCOM, and IEEE LatinCom. He has authored or coauthored over 900 papers in refereed international journals and conferences, 3 books, 2 patents, and 1 ITU-T Recommendation. Prof. Rodrigues is a member of the Internet Society, a senior member ACM, and Fellow of IEEE.

    Alexandre Baratella Lugli has a technical course in electronics from the Technical School of Electronics “Francisco Moreira da Costa” (1999), a degree in Electrical Engineering from the National Institute of Telecommunications (2004), a master's degree in Electrical Engineering from the Federal University of Itajubá (2007), a doctorate in Electrical Engineering from the Federal University of Itajubá (2013) and post doctorate, PhD, in Electrical Engineering from the Federal University of Itajubá (2020). Currently, he is professor and coordinator of undergraduate courses in Control and Automation (Engineering and Technology), Electrical and graduate Engineering, of the National Telecommunications Institute (INATEL).

    Antonio Marcos Alberti is an associate professor and researcher at the Instituto Nacional de Telecomunicacões (INATEL), Brazil, since 2004. In 2012, Antonio was a visiting researcher at Future Internet Department of ETRI, in South Korea. He received the M.Sc. and Ph.D. degrees in Electrical Engineering from Campinas State University (Unicamp), Campinas, SP, Brazil, in 1998 and 2003, respectively. Since 2008, he is designing and implementing a future Internet architecture called NovaGenesis. He has authored or coauthored over 96 papers in refereed international journals and conferences. Since 2013 he has been acting as a Coordinator of Information and Communications Technologies (ICT) Laboratory at INATEL.

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