Cyber-PhysicalSystems(CPS)are characterizedbyan intensive interaction betweenits electro-mechanicaldevicesand the embedded computer system. In such systems, having knowledge of the battery lifetime is crucial, since power failures can render the system inoperable. In order to help systems designers to handle such issue, this paper presents an approach that aims to monitor the system energy consumption and to estimate its battery lifetime. The developed approachisbasedonthe characterizationoftheexternal peripheralsoftheCPS,whichare correlatedwiththe operational modes of the embedded software. The novelty of this proposal is the capacity to express the energy consumption by using a mathematical model, without needing additional instruments, electronics or transducers. To illustrate the proposed solution we designed a prototype test bench. Obtained results indicate that the model gives an accurate estimation for the battery lifetime compared to solutions based on the system instrumentation.

In Cyber-Physical Systems (CPS) the operation of electromechanical devices is tightly integrated with the embedded computer system. The diversity of components imply in different profiles of energy consumption. Thereby, it becomes useful to use techniques that can manage the energy consumption. In a previous work, this aspect was modeled using a technique that allows estimating the energy consumption of a battery-powered CPS. In this paper we present a practical implementation of such work, where the peripherals of a mobile robotic system are characterized to compose the energy profile of the system. Conducted experiments measured the electrical currents during a planned navigation of the robot. The results confirm the assumptions assumed by the modeling technique, which proposes a relationship between the embedded computer system and the electromechanical devices, i.e., there is a direct relation between the device's activation and the nature of the software task under execution.

Cyber-Physical Systems (CPS) are characterizedby an intensive interaction between its electro-mechanicaldevices and the embedded computer system. In most of thesesystems the battery autonomy is crucial, since power failurescan render the system inoperable. Therefore CPS designersmust take good-care regarding its energy consumption. Thispaper presents a framework to monitor the energy consump-tion in CPS in order to estimate its autonomy. The developedapproach is based on the characterization of the embeddedsoftware operating modes, which represent the operationalstates of the system. To illustrate the proposed framework we carried out a case-study applied to mobile robotics.