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In this paper, we report on our recent experience of developing and teaching a course on CPS. The course addresses the following three questions: What are the core elements of CPS? How should these core concepts be integrated in the CPS design process? What types of modeling tools can assist in the design of Cyber-Physical Systems? Our experience with the first four offerings of the course has been positive overall. We also discuss the lessons we learned from some issues that were not handled well. All material including lecture notes and software used for the course are openly available online.<\/jats:p>","DOI":"10.1145\/3036686.3036692","type":"journal-article","created":{"date-parts":[[2017,1,6]],"date-time":"2017-01-06T13:30:07Z","timestamp":1483709407000},"page":"44-52","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":7,"title":["Developing a first course on cyber-physical systems"],"prefix":"10.1145","volume":"14","author":[{"given":"Walid","family":"Taha","sequence":"first","affiliation":[{"name":"Halmstad University and Rice University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yingfu","family":"Zeng","sequence":"additional","affiliation":[{"name":"Rice University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Adam","family":"Duracz","sequence":"additional","affiliation":[{"name":"Halmstad University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xu","family":"Fei","sequence":"additional","affiliation":[{"name":"Halmstad University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kevin","family":"Atkinson","sequence":"additional","affiliation":[{"name":"Rice University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Paul","family":"Brauner","sequence":"additional","affiliation":[{"name":"Rice University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Robert","family":"Cartwright","sequence":"additional","affiliation":[{"name":"Rice University and Halmstad University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roland","family":"Philippsen","sequence":"additional","affiliation":[{"name":"Halmstad University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2017,1,5]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"Course Syllabus adopted by the School of Information Science, Computer and Electrical Engineering","author":"Cyber","year":"2011","unstructured":"Cyber physical systems. 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