RT Conference Proceedings
T1 Design-time safety assessment of robotic systems using fault injection simulation in a model-driven approach
A1 Juez Uriagereka, Garazi
A1 Amparan, Estibaliz
A1 Martinez Martinez, Cristina
A1 Martinez, Jabier
A1 Ibanez, Aurelien
A1 Morelli, Matteo
A1 Radermacher, Ansgar
A1 Espinoza, Huascar
A2 Burgueno, Loli
A2 Burgueno, Loli
A2 Pretschner, Alexander
A2 Voss, Sebastian
A2 Chaudron, Michel
A2 Kienzle, Jorg
A2 Volter, Markus
A2 Gerard, Sebastien
A2 Zahedi, Mansooreh
A2 Bousse, Erwan
A2 Rensink, Arend
A2 Polack, Fiona
A2 Engels, Gregor
A2 Kappel, Gerti
AB The 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.
PB Institute of Electrical and Electronics Engineers Inc.
SN 9781728151250
YR 2019
FD 2019-09
LK https://hdl.handle.net/11556/2509
UL https://hdl.handle.net/11556/2509
LA eng
NO Juez 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
NO conference
NO Publisher Copyright: © 2019 IEEE.
NO ACKNOWLEDGMENT 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.
DS TECNALIA Publications
RD 31 jul 2024