信息物理融合系统(CPS)作为物联网的演进它将广泛应用于重要基础设施的监测与控制等诸多领域。因为CPS传感模块需要实时感知环境变化，决策控制模块要根据实时数据进行判决，控制各执行模块协同工作，实现对物理过程的控制，所以CPS对实时协同性要求很高。考虑CPS整个反馈循环处理过程，实时协同性主要体现在实时、可预测性网络通信，分布式执行器之间的同步和实时任务协同调度处理等，课题针对这些展开研究，取得创新性成果。具体包括：基于时-空数据重要性的WSAN节点访问频率控制方法、区域划分方法以及路径优化、跨层优化方法，解决CPS对网络传输数据的实时、可预测性要求；采用时钟同步机制、基于延迟抖动平滑,并结合整型线性规划等优化算法，解决分布式执行器间的局部同步和全局同步；基于复杂任务模型的实时调度方法，解决CPS对任务调度的实时性与协同操作的要求。课题的研究将为CPS的研究和发展提供理论支撑。

Cyber-Physical Systems (CPS), as the evolution of Internet of Things, will be widely used in monitoring and control of important infrastructure. Because CPS sense the environment changing, control decision according to the real-time data, control the actors cooperating,and realize the real-time control of the physical process, the real-time and cooperating requirement of CPS is quite high. Considering the feedback loop of CPS process, real-time and cooperating requirement mainly manifests in the real-time predictability network communication, synchronization between the distributed actuators and the cooperative real-time task scheduling. This project aims at exploring the aforementioned aspects in CPS. Novel achievements can be obtained thereupon. The specific achievements include: the network transmission schemes based on the node visiting frequency control method according to the importance of data, region division method, path optimization method and cross-layer optimazation to meet real-time and predictability requirements, the synchronization method based on clock synchronization、delay jitter and integer linear optimization algorithm to meet the local/global synchronization of distributed actuators, the task scheduling based on the complex task modeling and the real-time scheduling method to meet real-time and cooperating requirement. This research will provide theory support for CPS research and development.