Design-time safety assessment of robotic systems using fault injection simulation in a model-driven approach

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dc.contributor.authorJuez Uriagereka, Garazi
dc.contributor.authorAmparan, Estibaliz
dc.contributor.authorMartinez Martinez, Cristina
dc.contributor.authorMartinez, Jabier
dc.contributor.authorIbanez, Aurelien
dc.contributor.authorMorelli, Matteo
dc.contributor.authorRadermacher, Ansgar
dc.contributor.authorEspinoza, Huascar
dc.contributor.editorBurgueno, Loli
dc.contributor.editorBurgueno, Loli
dc.contributor.editorPretschner, Alexander
dc.contributor.editorVoss, Sebastian
dc.contributor.editorChaudron, Michel
dc.contributor.editorKienzle, Jorg
dc.contributor.editorVolter, Markus
dc.contributor.editorGerard, Sebastien
dc.contributor.editorZahedi, Mansooreh
dc.contributor.editorBousse, Erwan
dc.contributor.editorRensink, Arend
dc.contributor.editorPolack, Fiona
dc.contributor.editorEngels, Gregor
dc.contributor.editorKappel, Gerti
dc.contributor.institutionTecnalia Research & Innovation
dc.contributor.institutionCIBERSEC&DLT
dc.contributor.institutionSWT
dc.date.accessioned2024-07-24T11:55:24Z
dc.date.available2024-07-24T11:55:24Z
dc.date.issued2019-09
dc.descriptionPublisher Copyright: © 2019 IEEE.
dc.description.abstractThe 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.en
dc.description.sponsorshipACKNOWLEDGMENT This work has been funded by the eITUS project (Experimental Infrastructure Towards Ubiquitously Safe Robotic Systems using RobMoSys). The eITUS Integrated Technical Project has received funding from the European Union’s Horizon 2020 Research and Innovation Programme under grant agreement No. 732410, in the form of financial support to third parties of the RobMoSys Project.
dc.description.statusPeer reviewed
dc.format.extent10
dc.identifier.citationJuez Uriagereka , G , Amparan , E , Martinez Martinez , C , Martinez , J , Ibanez , A , Morelli , M , Radermacher , A & Espinoza , H 2019 , Design-time safety assessment of robotic systems using fault injection simulation in a model-driven approach . in L Burgueno , L Burgueno , A Pretschner , S Voss , M Chaudron , J Kienzle , M Volter , S Gerard , M Zahedi , E Bousse , A Rensink , F Polack , G Engels & G Kappel (eds) , Proceedings - 2019 ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems Companion, MODELS-C 2019 . , 8904802 , Proceedings - 2019 ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems Companion, MODELS-C 2019 , Institute of Electrical and Electronics Engineers Inc. , pp. 577-586 , 22nd ACM/IEEE International Conference on Model Driven Engineering Languages and Systems Companion, MODELS-C 2019 , Munich , Germany , 15/09/19 . https://doi.org/10.1109/MODELS-C.2019.00088
dc.identifier.citationconference
dc.identifier.doi10.1109/MODELS-C.2019.00088
dc.identifier.isbn9781728151250
dc.identifier.urihttps://hdl.handle.net/11556/2509
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85075950258&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofProceedings - 2019 ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems Companion, MODELS-C 2019
dc.relation.ispartofseriesProceedings - 2019 ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems Companion, MODELS-C 2019
dc.relation.projectIDEuropean Union’s Horizon 2020, 732410
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsFault injection
dc.subject.keywordsRobMoSys
dc.subject.keywordsRobotic systems
dc.subject.keywordsSafety
dc.subject.keywordsAutomotive Engineering
dc.subject.keywordsModeling and Simulation
dc.subject.keywordsSoftware
dc.subject.keywordsSDG 9 - Industry, Innovation, and Infrastructure
dc.titleDesign-time safety assessment of robotic systems using fault injection simulation in a model-driven approachen
dc.typeconference output
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