Browsing by Keyword "Fault injection"
Now showing 1 - 2 of 2
Results Per Page
Sort Options
Item Design-time safety assessment of robotic systems using fault injection simulation in a model-driven approach(Institute of Electrical and Electronics Engineers Inc., 2019-09) Juez Uriagereka, Garazi; Amparan, Estibaliz; Martinez Martinez, Cristina; Martinez, Jabier; Ibanez, Aurelien; Morelli, Matteo; Radermacher, Ansgar; Espinoza, Huascar; Burgueno, Loli; Burgueno, Loli; Pretschner, Alexander; Voss, Sebastian; Chaudron, Michel; Kienzle, Jorg; Volter, Markus; Gerard, Sebastien; Zahedi, Mansooreh; Bousse, Erwan; Rensink, Arend; Polack, Fiona; Engels, Gregor; Kappel, Gerti; Tecnalia Research & Innovation; CIBERSEC&DLT; SWTThe rapid advancement of autonomy in robotic systems together with the increasing interaction with humans in shared workspaces (e.g. collaborative robots), raises pressing concerns about system safety. In recent years, the need of model-driven approaches for safety analysis during the design stage has gained a lot of attention. In this context, simulation-based fault injection combined with a virtual robot is a promising practice to complement traditional safety analysis. Fault injection is used to identify the potential safety hazard scenarios and to evaluate the controller's robustness to certain faults. Besides, it enables a quantitative assessment w.r.t. other techniques that only give qualitative hints, such as FMEA. Thus, it facilitates the refinement of safety requirements and the conception of concrete mitigation actions. This paper presents a tool-supported approach that leverages models and simulation-assisted fault injection to assess safety and reliability of robotic systems in the early phases of design. The feasibility of this method is demonstrated by applying it to the design of a real-time cartesian impedance control system in torque mode as a use case scenario.Item Early Safety Assessment of Automotive Systems Using Sabotage Simulation-Based Fault Injection Framework(Springer Verlag, 2017) Juez, Garazi; Amparan, Estibaliz; Lattarulo, Ray; Ruíz, Alejandra; Perez, Joshue; Espinoza, Huascar; Bitsch, Friedemann; Tonetta, Stefano; Schoitsch, Erwin; Tecnalia Research & Innovation; CIBERSEC&DLT; CCAM; QuantumAs road vehicles increase their autonomy and the driver reduces his role in the control loop, novel challenges on dependability assessment arise. Model-based design combined with a simulation-based fault injection technique and a virtual vehicle poses as a promising solution for an early safety assessment of automotive systems. To start with, the design, where no safety was considered, is stimulated with a set of fault injection simulations (fault forecasting). By doing so, safety strategies can be evaluated during early development phases estimating the relationship of an individual failure to the degree of misbehaviour on vehicle level. After having decided the most suitable safety concept, a second set of fault injection experiments is used to perform an early safety validation of the chosen architecture. This double-step process avoids late redesigns, leading to significant cost and time savings. This paper presents a simulation-based fault injection approach aimed at finding acceptable safety properties for model-based design of automotive systems. We focus on instrumenting the use of this technique to obtain fault effects and the maximum response time of a system before a hazardous event occurs. Through these tangible outcomes, safety concepts and mechanisms can be more accurately dimensioned. In this work, a prototype tool called Sabotage has been developed to set up, configure, execute and analyse the simulation results. The feasibility of this method is demonstrated by applying it to a Lateral Control system.