Note: This article was originally published in ACM Transactions on Cyber-Physical Systems. The citation of and the link to the original article: C. Lu, Toward a Scientific and Engineering Discipline of Cyber-Physical Systems, ACM Transactions on Cyber-Physical Systems, 5(3), Article 22e, July 2021. Cyber-physical systems (CPS) are driving a wide range of exciting applications from smart cities to smart healthcare.  In…