Software Fault Tolerance for Cyber-Physical Systems via Full System Restart

被引:9
作者
Jagtap, Pushpak [1 ]
Abdi, Fardin [2 ]
Rungger, Matthias [1 ]
Zamani, Majid [3 ]
Caccamo, Marco [4 ]
机构
[1] Tech Univ Munich, Dept Elect & Comp Engn, Arcistr 21, Munich, Germany
[2] Uber, Seattle, WA USA
[3] Univ Colorado, Comp Sci Dept, 1111 Engn Dr, Boulder, CO 80309 USA
[4] Tech Univ Munich, Dept Mech Engn, Boltzmannstr 15, D-85748 Munich, Germany
基金
欧盟地平线“2020”; 美国国家科学基金会;
关键词
Cyber-physical systems; fault-tolerance; full system restart; nonlinear systems; abstraction-based control; REACHABILITY ANALYSIS;
D O I
10.1145/3407183
中图分类号
TP39 [计算机的应用];
学科分类号
081203 ; 0835 ;
摘要
The article addresses the issue of reliability of complex embedded control systems in the safety-critical environment. In this article, we propose a novel approach to design controller that (i) guarantees the safety of nonlinear physical systems, (ii) enables safe system restart during runtime, and (iii) allows the use of complex, unverified controllers (e.g., neural networks) that drive the physical systems toward complex specifications. We use abstraction-based controller synthesis approach to design a formally verified controller that provides application and system-level fault tolerance along with safety guarantee. Moreover, our approach is implementable using a commercial-off-the-shelf (COTS) processing unit. To demonstrate the efficacy of our solution and to verify the safety of the system under various types of faults injected in applications and in the underlying real-time operating system (RTOS), we implemented the proposed controller for the inverted pendulum and three degrees-of-freedom (3-DOF) helicopter.
引用
收藏
页数:20
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