Cette thèse porte sur le développement d'approches compositionnelles et efficaces de synthèse de contrôleurs pour les systèmes cyber-physiques (CPS). En effet, alors que les techniques de conception des CPS basées sur des modèles ont fait l'objet de nombreuses études au cours de la dernière décennie, leur scalabilité reste problématique. Dans cette thèse, nous contribuons à rendre de telles approches plus évolutives.La première partie est axée sur les approches compositionnelles. Un cadre général pour le raisonnement compositionnel en utilisant des contrats d’hypothèse-garantie est proposé. Ce cadre est ensuite combiné avec des techniques de contrôle symbolique et appliqué à un problème de synthèse de contrôleur pour des systèmes échantillonnés, distribués et multipériodiques, où l'approche symbolique est utilisé pour synthétiser un contrôleur imposant un contrat donné. Ensuite, une nouvelle approche de calcul compositionnel des abstractions symboliques est proposée, basée sur la notion de composition approchée et permettant de traiter des abstractions hétérogènes.La deuxième partie de la thèse porte sur des techniques efficaces d'abstraction et de synthèse de contrôleurs. Deux nouvelles techniques de calcul d’abstractions sont proposées pour les systèmes à commutation incrémentalement stables. La première approche est basée sur l'échantillonnage multi-niveaux où nous avons établi l'existence d'un paramètre optimal d'échantillonnage qui aboutit à un modèle symbolique avec un nombre minimal de transitions. La deuxième approche est basée sur un échantillonnage événementiel, où la durée des transitions dans le modèle symbolique est déterminée par un mécanisme déclencheur, ce qui permet de réduire le conservatisme par rapport au cas périodique. La combinaison avec des techniques de synthèse de contrôleurs paresseux est proposée permettant la synthèse à un coût de calcul réduit. Enfin, une nouvelle approche de synthèse paresseuse a été développée pour les systèmes de transition monotones et les spécifications de sécurité dirigées. Plusieurs études de cas sont considérées dans cette thèse, telles que la régulation de la température dans les bâtiments, le contrôle des convertisseurs de puissance, le pilotage des véhicules et le contrôle de la tension dans les micro-réseaux DC. / This thesis focus on the development of compositional and efficient controller synthesis approaches for cyber-physical systems (CPS). Indeed, while model-based techniques for CPS design have been the subject of a large amount of research in the last decade, scalability of these techniques remains an issue. In his thesis, we contribute to make such approaches more scalable.The focus of the first part is on compositional approaches. A general framework for compositional reasoning using assume-guarantee contracts is proposed. This framework is then combined with symbolic control techniques and applied to a controller synthesis problem for multiperiodic distributed sampled-data systems, where symbolic approaches have been used to synthesize controllers enforcing a given assume-guarantee contract. Then, a new approach to the compositional computation of symbolic abstractions is proposed based on the notion of approximate composition, allowing to deal with heterogeneous abstractions and arbitrary interconnections.The second part is about efficient abstraction and controller synthesis techniques. Two new abstractions schemes have been developed for incrementally stable switched systems. The first approach is based on multirate sampling where we established the existence of an optimal multirate sampling parameter that results in a symbolic model with a minimal number of transitions. The second approach is based on event-based sampling, where the duration of transitions in the symbolic model is determined by some triggering mechanism, which makes it possible to reduce the conservatism with respect to the periodic case. Combination with lazy controller synthesis techniques has been proposed allowing the synthesis at a reduced computational cost. Finally, a new lazy approach has been develop for monotone transition systems and directed safety specifications. Several case studies have been considered in this thesis such as temperature regulation in buildings, control of power converters, vehicle platooning and voltage control in DC micro-grids.

L'électronique a connu une évolution incontestable ces dernières années. Les progrès réalisés, notamment dans l'électronique numérique et l'intégration des circuits, ont abouti à des systèmes plus performants, miniatures et à faible consommation énergétique. Les évolutions technologiques, alliant les avancées de l'informatique et des technologies numériques et leur intégration de plus en plus poussée au sein d'objets multiples, ont permis le développement d'un nouveau paradigme de systèmes qualifiés de systèmes cyber-physiques. Ces systèmes sont massivement déployés de nos jours grâce à l'expansion des applications liées à l'Internet Des Objets (IDO). Les systèmes cyber-physiques s'appuient, entre autre, sur le déploiement massif de capteurs communicants sans fil autonomes, ceux-ci présentent plusieurs avantages : * Flexibilité dans le choix de l'emplacement. Ils permettent l'accès à des zones dangereuses ou difficiles d'accès. * Affranchissement des câbles qui présentent un poids, un encombrement et un coût supplémentaire. * Elimination des problèmes relatifs aux câbles (usure, étanchéité...) * Facilité de déploiement de réseaux de capteurs Cependant, ces capteurs sans fils nécessitent une autonomie énergétique afin de fonctionner. Les techniques conventionnelles telles que les batteries ou les piles, n'assurent le fonctionnement des capteurs que pour une durée limitée et nécessitent un changement périodique. Ceci présente un obstacle dans le cas où les capteurs sans fils sont placés dans un endroit où l'accès est impossible. Il est donc nécessaire de trouver un autre moyen d'approvisionner l'énergie de façon permanente à ces réseaux de capteurs sans fil. L'intégration et la miniaturisation des systèmes électroniques ont permis la réalisation de systèmes à faible consommation, ce qui a fait apparaître d'autres techniques en termes d'apports énergétiques. Parmi ces possibilités se trouvent la récupération d'énergie électromagnétique et le transfert d'énergie sans fil (TESF). En effet, l'énergie électromagnétique est de nos jours, omniprésente sur notre planète, l'utiliser donc comme source d'énergie pour les systèmes électroniques semble être une idée plausible et réalisable. Cette thèse s'inscrit dans ce cadre, elle a pour objectif la conception et la fabrication de systèmes de récupération d'énergie électromagnétique pour l'alimentation de réseaux de capteurs sans fil. Le circuit de récupération d'énergie électromagnétique est appelé " Rectenna ", ce mot est l'association de deux entités qui sont " antenne " et " rectifier " qui désigne en anglais le " redresseur ". L'antenne permet de récupérer l'énergie électromagnétique ambiante et le redresseur la convertit en un signal continu (DC) qui servira par la suite à alimenter les capteurs sans fil. Dans ce manuscrit, plusieurs rectennas seront présentées, pour des fréquences allant des bandes GSM 868MHz, 915MHz, passant par l'UMTS à 2GHZ et WIFI à 2,45GHz, et allant jusqu'aux bandes Ku et Ka. / The electronic domain has known a significant expansion the last decades, all the advancements made has led to the development of miniature and efficient electronic devices used in many applications such as cyber physical systems. These systems use low-power wireless sensors for: detection, monitoring and so on. The use of wireless sensors has many advantages: * The flexibility of their location, they allow the access to hazardous areas. * The realization of lighter system, less expensive and less cumbersome. * The elimination of all the problems associated to the cables (erosion, impermeability...) * The deployment of sensor arrays. Therefore, these wireless sensors need to be supplied somehow with energy to be able to function properly. The classic ways of supplying energy such as batteries have some drawbacks, they are limited in energy and must be replaced periodically, and this is not conceivable for applications where the wireless sensor is placed in hazardous places or in places where the access is impossible. So, it is necessary to find another way to permanently provide energy to these wireless sensors. The integration and miniaturization of the electronic devices has led to low power consumption systems, which opens a way to another techniques in terms of providing energy. Amongst the possibilities, we can find the Wireless Power Transfer (WPT) and Energy Harvesting (EH). In fact, the electromagnetic energy is nowadays highly available in our planet thanks to all the applications that use wireless systems. We can take advantage of this massive available quantity of energy and use it to power-up the low power wireless sensors. This thesis is incorporated within the framework of WPT and EH. Its objective is the conception and realization of electromagnetic energy harvesters called "Rectenna" in order to supply energy to low power wireless sensors. The term "rectenna" is the combination of two words: Antenna and Rectifier. The Antenna is the module that captures the electromagnetic ambient energy and converts it to a RF signal, the rectifier is the RF circuit that converts this RF signal into a continuous (DC) signal that is used to supply the wireless sensors. In this manuscript, several rectennas will be presented, for different frequencies going from the GSM frequencies (868 MHz, 915 MHz) to the Ku/Ka bands.

The smart grid is the next-generation electrical infrastructure utilizing Information and Communication Technologies (ICTs), whose architecture is evolving from a utility-centric structure to a distributed Cyber-Physical System (CPS) integrated with a large-scale of renewable energy resources. However, meeting reliability objectives in the smart grid becomes increasingly challenging owing to the high penetration of renewable resources and changing weather conditions. Moreover, the cyber-physical attack targeted at the smart grid has become a major threat because millions of electronic devices interconnected via communication networks expose unprecedented vulnerabilities, thereby increasing the potential attack surface. This dissertation is aimed at developing novel game-theoretic and machine-learning techniques for addressing the reliability and security issues residing at multiple layers of the smart grid, including power distribution system reliability forecasting, risk assessment of cyber-physical attacks targeted at the grid, and cyber attack detection in the Advanced Metering Infrastructure (AMI) and renewable resources. This dissertation first comprehensively investigates the combined effect of various weather parameters on the reliability performance of the smart grid, and proposes a multilayer perceptron (MLP)-based framework to forecast the daily number of power interruptions in the distribution system using time series of common weather data. Regarding evaluating the risk of cyber-physical attacks faced by the smart grid, a stochastic budget allocation game is proposed to analyze the strategic interactions between a malicious attacker and the grid defender. A reinforcement learning algorithm is developed to enable the two players to reach a game equilibrium, where the optimal budget allocation strategies of the two players, in terms of attacking/protecting the critical elements of the grid, can be obtained. In addition, the risk of the cyber-physical attack can be derived based on the successful attack probability to various grid elements. Furthermore, this dissertation develops a multimodal data-driven framework for the cyber attack detection in the power distribution system integrated with renewable resources. This approach introduces the spare feature learning into an ensemble classifier for improving the detection efficiency, and implements the spatiotemporal correlation analysis for differentiating the attacked renewable energy measurements from fault scenarios. Numerical results based on the IEEE 34-bus system show that the proposed framework achieves the most accurate detection of cyber attacks reported in the literature. To address the electricity theft in the AMI, a Distributed Intelligent Framework for Electricity Theft Detection (DIFETD) is proposed, which is equipped with Benford’s analysis for initial diagnostics on large smart meter data. A Stackelberg game between utility and multiple electricity thieves is then formulated to model the electricity theft actions. Finally, a Likelihood Ratio Test (LRT) is utilized to detect potentially fraudulent meters.

Industry 4.0 has caused exceptional changes in the industrial world. A relevant breakthrough is the concept of Cyber-Physical Production System (CPPS) which involves a system of interconnected entities with the main objective of achieving flexibility, which is essential for the manufacturing industries to remain competitive due to the actual demand for customization. The project suggests the use of a robot cell distribution called robot island as a solution to address this problem. In the implementation, a virtual model and program will be presented with flexible mobile robots, AGVs and a PLC. All are designed following the three principles of the CPS using RobotStudio and CODESYS to simulate and evaluate the results. The research demonstrates how autonomous, modular, flexible and adaptable to changes in product or production process system is, for example with the integration of the concept of the resource pool and variations in the product characteristics. The resulting executable is made with standardised modules so it can be extrapolated to other manufacturing processes, opening a wide range of possibilities for this island of robots. / <p>Utbytesstudenter</p>

The ongoing effort for an efficient, sustainable, and automated interaction between humans, machines, and our environment will make cyber-physical systems (CPS) an integral part of the industry and our daily lives. At their core, CPS integrate computing elements, communication networks, and physical processes that are monitored and controlled through sensors and actuators. New and innovative applications become possible by extending or replacing static and expensive cable-based communication infrastructures with wireless technology. The flexibility of wireless CPS is a key enabler for many envisioned scenarios, such as intelligent factories, smart farming, personalized healthcare systems, autonomous search and rescue, and smart cities. High dependability, efficiency, and adaptivity requirements complement the demand for wireless and low-cost solutions in such applications. For instance, industrial and medical systems should work reliably and predictably with performance guarantees, even if parts of the system fail. Because emerging CPS will feature mobile and battery-driven devices that can execute various tasks, the systems must also quickly adapt to frequently changing conditions. Moreover, as applications become ever more sophisticated, featuring compact embedded devices that are deployed densely and at scale, efficient designs are indispensable to achieve desired operational lifetimes and satisfy high bandwidth demands. Meeting these partly conflicting requirements, however, is challenging due to imperfections of wireless communication and resource constraints along several dimensions, for example, computing, memory, and power constraints of the devices. More precisely, frequent and correlated message losses paired with very limited bandwidth and varying delays for the message exchange significantly complicate the control design. In addition, since communication ranges are limited, messages must be relayed over multiple hops to cover larger distances, such as an entire factory. Although the resulting mesh networks are more robust against interference, efficient communication is a major challenge as wireless imperfections get amplified, and significant coordination effort is needed, especially if the networks are dynamic. CPS combine various research disciplines, which are often investigated in isolation, ignoring their complex interaction. However, to address this interaction and build trust in the proposed solutions, evaluating CPS using real physical systems and wireless networks paired with formal guarantees of a system’s end-to-end behavior is necessary. Existing works that take this step can only satisfy a few of the abovementioned requirements. Most notably, multi-hop communication has only been used to control slow physical processes while providing no guarantees. One of the reasons is that the current communication protocols are not suited for dynamic multi-hop networks. This thesis closes the gap between existing works and the diverse needs of emerging wireless CPS. The contributions address different research directions and are split into two parts. In the first part, we specifically address the shortcomings of existing communication protocols and make the following contributions to provide a solid networking foundation: • We present Mixer, a communication primitive for the reliable many-to-all message exchange in dynamic wireless multi-hop networks. Mixer runs on resource-constrained low-power embedded devices and combines synchronous transmissions and network coding for a highly scalable and topology-agnostic message exchange. As a result, it supports mobile nodes and can serve any possible traffic patterns, for example, to efficiently realize distributed control, as required by emerging CPS applications. • We present Butler, a lightweight and distributed synchronization mechanism with formally guaranteed correctness properties to improve the dependability of synchronous transmissions-based protocols. These protocols require precise time synchronization provided by a specific node. Upon failure of this node, the entire network cannot communicate. Butler removes this single point of failure by quickly synchronizing all nodes in the network without affecting the protocols’ performance. In the second part, we focus on the challenges of integrating communication and various control concepts using classical time-triggered and modern event-based approaches. Based on the design, implementation, and evaluation of the proposed solutions using real systems and networks, we make the following contributions, which in many ways push the boundaries of previous approaches: • We are the first to demonstrate and evaluate fast feedback control over low-power wireless multi-hop networks. Essential for this achievement is a novel co-design and integration of communication and control. Our wireless embedded platform tames the imperfections impairing control, for example, message loss and varying delays, and considers the resulting key properties in the control design. Furthermore, the careful orchestration of control and communication tasks enables real-time operation and makes our system amenable to an end-to-end analysis. Due to this, we can provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics. • We propose control-guided communication, a novel co-design for distributed self-triggered control over wireless multi-hop networks. Self-triggered control can save energy by transmitting data only when needed. However, there are no solutions that bring those savings to multi-hop networks and that can reallocate freed-up resources, for example, to other agents. Our control system informs the communication system of its transmission demands ahead of time so that communication resources can be allocated accordingly. Thus, we can transfer the energy savings from the control to the communication side and achieve an end-to-end benefit. • We present a novel co-design of distributed control and wireless communication that resolves overload situations in which the communication demand exceeds the available bandwidth. As systems scale up, featuring more agents and higher bandwidth demands, the available bandwidth will be quickly exceeded, resulting in overload. While event-triggered control and self-triggered control approaches reduce the communication demand on average, they cannot prevent that potentially all agents want to communicate simultaneously. We address this limitation by dynamically allocating the available bandwidth to the agents with the highest need. Thus, we can formally prove that our co-design guarantees closed-loop stability for physical systems with stochastic linear time-invariant dynamics.:Abstract Acknowledgements List of Abbreviations List of Figures List of Tables 1 Introduction 1.1 Motivation 1.2 Application Requirements 1.3 Challenges 1.4 State of the Art 1.5 Contributions and Road Map 2 Mixer: Efficient Many-to-All Broadcast in Dynamic Wireless Mesh Networks 2.1 Introduction 2.2 Overview 2.3 Design 2.4 Implementation 2.5 Evaluation 2.6 Discussion 2.7 Related Work 3 Butler: Increasing the Availability of Low-Power Wireless Communication Protocols 3.1 Introduction 3.2 Motivation and Background 3.3 Design 3.4 Analysis 3.5 Implementation 3.6 Evaluation 3.7 Related Work 4 Feedback Control Goes Wireless: Guaranteed Stability over Low-Power Multi-Hop Networks 4.1 Introduction 4.2 Related Work 4.3 Problem Setting and Approach 4.4 Wireless Embedded System Design 4.5 Control Design and Analysis 4.6 Experimental Evaluation 4.A Control Details 5 Control-Guided Communication: Efficient Resource Arbitration and Allocation in Multi-Hop Wireless Control Systems 5.1 Introduction 5.2 Problem Setting 5.3 Co-Design Approach 5.4 Wireless Communication System Design 5.5 Self-Triggered Control Design 5.6 Experimental Evaluation 6 Scaling Beyond Bandwidth Limitations: Wireless Control With Stability Guarantees Under Overload 6.1 Introduction 6.2 Problem and Related Work 6.3 Overview of Co-Design Approach 6.4 Predictive Triggering and Control System 6.5 Adaptive Communication System 6.6 Integration and Stability Analysis 6.7 Testbed Experiments 6.A Proof of Theorem 4 6.B Usage of the Network Bandwidth for Control 7 Conclusion and Outlook 7.1 Contributions 7.2 Future Directions Bibliography List of Publications

Critical infrastructures (CIs) distributing water, oil, gas, electricity, etc., to community residents and businesses, leverage cyber-physical systems (CPSs) to supervise and control the physical processes that these services entail. Over recent decades, these systems have moved to implement more modern IT-resembling solutions using Supervisory Control and Data Acquisition Systems (SCADA) for increased reliability, scalability, and remote connectivity. This change exposes these highly critical systems to new threats and vulnerabilities. One approach to mitigate the risks faced by these systems is to perform analysis on digital representations in the form of digital models or digital shadows of the CPSs. However, this is not a trivial task in practice. These practical issues are explored in this design science research through the development of a guidance process to perform the data collection necessary to create a static digital model of a small-scale power grid CPS in Sweden. The results show that it is possible to gather information on the CPS components through the four approaches: SCADA system exports, documentation information, CLI scripting, and network scanning. While the artefact presented in this report demonstrates these results, challenges still remain such as a lack of SCADA export tools, reaching the SCADA network with scanning tools in a responsible manner, and accessing insights into the complete documentation held by the organisations. The researcher suggests these topics for future research directions.

Denna rapport närmar sig cyberfysiska system (CPS) ur både användnings- och utvecklingsperspektiv, med särskilt fokus på utmaningarna i en sjukhusmiljö. Vikten av en kontinuerlig utveckling för att optimera teknologins prestanda och användbarhet betonas, och de specifika utmaningar som är unika för en sjukhusmiljö belyses. Studien undersöker hantering av komplexitet kopplat till CPS i form av automatiserade transportsystem på Nya Karolinska Universitetssjukhuset, Stockholm, Sverige. Målet är att ge framtida sjukhusprojekt en klar beskrivning av erfarenheterna av att utveckla och hantera CPS i sjukhusmiljö. Genom att titta på både möjligheter och utmaningar kommer rapporten att bidra till en ökad förståelse för CPS och dess förmåga att förbättra vården. Resultaten visar att utmaningarna inkluderar höga säkerhetskrav, integrering med personal, noga övervakning för att undvika driftstörningar och behovet av samarbete och flexibilitet. Rapporten drar slutsatsen att samarbete, proaktiv inställning och kontinuerlig utveckling är nödvändiga för att optimera prestanda och användbarhet hos CPS. Användare och kunder bör också vara aktiva i att dokumentera och rapportera systemets beteende för en kontinuerlig förbättring. Utvecklingen av CPS inom sjukhusmiljöer kräver också kontinuerlig testning och utbildning av personal samt ett koordinerat och strategiskt förhållningssätt för att säkerställa god samverkan mellan systemets olika aspekter. / This report approaches CPS technology from both usage and development perspectives, with a particular focus on the challenges in a hospital environment. The importance of continuous development to optimize the technology's performance and usability is explored, as well as the specific challenges that are unique to a hospital environment. The study investigates the complexity management of CPS in the form of automated transport systems at the New Karolinska University Hospital in Stockholm, Sweden. The goal is to provide future hospital projects with a clear description of the experiences of developing and managing CPS in a hospital environment. By looking at both opportunities and challenges, the report contributes to a greater understanding of CPS and its ability to improve health care. The study shows that the challenges include high security requirements, integration with staff, careful monitoring to avoid disruptions, and the need for cooperation and flexibility. The report concludes that cooperation, proactive attitude and continuous development are necessary to optimize the performance and usability of CPS. Users and customers should be active in documenting and reporting the system's behavior for continuous improvement. The development of CPS in hospital environments also requires continuous testing and training of staff and a coordinated and strategic approach to ensure cooperation between the system's different aspects.

<p>The progressive integration of microcontrollers into various domains has transformed traditional mechanical systems into modern cyber-physical systems. However, the beginning of this transformation predated the era of hyper-interconnectedness that characterizes our contemporary world. As such, the principles and visions guiding the design choices of this transformation had not accounted for many of today's security challenges. Many designers had envisioned their systems to operate in an air-gapped-like fashion where few security threats loom. However, with the hyper-connectivity of today's world, many CPS find themselves in uncharted territory for which they are unprepared.</p> <p><br></p> <p>An example of this evolution is the Controller Area Network (CAN). CAN emerged during the transformation of many mechanical systems into cyber-physical systems as a pivotal communication standard, reducing vehicle wiring and enabling efficient data exchange. CAN's features, including noise resistance, decentralization, error handling, and fault confinement mechanisms, made it a widely adopted communication medium not only in transportation but also in diverse applications such as factories, elevators, medical equipment, avionic systems, and naval applications.</p> <p><br></p> <p>The increasing connectivity of modern vehicles through CD players, USB sticks, Bluetooth, and WiFi access has exposed CAN systems to unprecedented security challenges and highlighted the need to bolster their security posture. This dissertation addresses the urgent need to enhance the security of modern cyber-physical systems in the face of emerging threats by proposing a proactive vulnerability identification and defense construction approach and applying it to CAN as a lucid case study. By adopting this proactive approach, vulnerabilities can be systematically identified, and robust defense mechanisms can be constructed to safeguard the resilience of CAN systems.</p> <p><br></p> <p>We focus on developing vulnerability scanning techniques and innovative defense system designs tailored for CAN systems. By systematically identifying vulnerabilities before they are discovered and exploited by external actors, we minimize the risks associated with cyber-attacks, ensuring the longevity and reliability of CAN systems. Furthermore, the defense mechanisms proposed in this research overcome the limitations of existing solutions, providing holistic protection against CAN threats while considering its performance requirements and operational conditions.</p> <p><br></p> <p>It is important to emphasize that while this dissertation focuses on CAN, the techniques and rationale used here could be replicated to secure other cyber-physical systems. Specifically, due to CAN's presence in many cyber-physical systems, it shares many performance and security challenges with those systems, which makes most of the techniques and approaches used here easily transferrable to them. By accentuating the importance of proactive security, this research endeavors to establish a foundational approach to cyber-physical systems security and resiliency. It recognizes the evolving nature of cyber-physical systems and the specific security challenges facing each system in today's hyper-connected world and hence focuses on a single case study. </p>

No description available.

Increasingly flexible and efficient industrial processes and automation systems are developed by integrating computational systems and physical processes, thereby forming large heterogeneous systems of cyber-physical systems. Such systems depend on particular data models and payload formats for communication, and making different entities interoperable is a challenging problem that drives the engineering costs and time to deployment. Interoperability is typically established and maintained manually using domain knowledge and tools for processing and visualization of symbolic metadata, which limits the scalability of the present approach. The vision of next generation automation frameworks, like the Arrowhead Framework, is to provide autonomous interoperability solutions. In this thesis the problem to automatically establish interoperability between cyber-physical systems is reviewed and formulated as a mathematical optimisation problem, where symbolic metadata and message payloads are combined with machine learning methods to enable message translation and improve system of systems utility. An autoencoder based implementation of the model is investigated and simulation results for a heating and ventilation system are presented, where messages are partially translated correctly by semantic interpolation and generalisation of the latent representations. A maximum translation accuracy of 49% is obtained using this unsupervised learning approach. Further work is required to improve the translation accuracy, in particular by further exploiting metadata in the model architecture and autoencoder training protocol, and by considering more advanced regularization methods and utility optimization. / Productive 4.0