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Using Simulation, Fault Injection and Property-Based Testing to Evaluate Collision Avoidance of a Quadcopter System
Department of Electronics, SP Technical Research Institute of Sweden, Borås, Sweden.ORCID iD: 0000-0003-1713-3726
Department of Electronics, SP Technical Research Institute of Sweden, Borås, Sweden.
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), Centre for Research on Embedded Systems (CERES).ORCID iD: 0000-0002-6526-3931
2015 (English)In: 2015 IEEE International Conference on Dependable Systems and Networks Workshops (DSN-W) / [ed] Juan E. Guerrero, Los Alamitos, CA: IEEE Computer Society, 2015, p. 104-111Conference paper, Published paper (Refereed)
Abstract [en]

In this work we use our testing platform based on FaultCheck and QuickCheck that we apply on a quadcopter simulator. We have used a hardware platform as the basis for the simulator and for deriving realistic fault models for our simulations. The quadcopters have a collision-avoidance mechanism that shall take over control when the situation becomes hazardous, steer away from the potential danger and then give control back to the pilot, thereby preventing collisions regardless of what the pilot does. We use our testing platform to randomly generate thousands of simulations with different input stimuli (using QuickCheck) for hundreds of quadcopters, while injecting faults simultaneously (using FaultCheck). This way, we can effectively adjust system parameters and enhance the collision-avoidance mechanism. © 2015 IEEE

Place, publisher, year, edition, pages
Los Alamitos, CA: IEEE Computer Society, 2015. p. 104-111
Keywords [en]
Fault Injection, FaultCheck, Property-Based Testing, Simulation, QuickCheck, Fault Model, Quadcopter
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:hh:diva-28172DOI: 10.1109/DSN-W.2015.28Scopus ID: 2-s2.0-84957653792ISBN: 978-1-4673-8044-7 OAI: oai:DiVA.org:hh-28172DiVA, id: diva2:808255
Conference
1st International Workshop on Safety and Security of Intelligent Vehicles (SSIV), Rio de Janeiro, Brazil, June 22, 2015
Projects
PROWESSKARYON
Funder
EU, FP7, Seventh Framework ProgrammeKnowledge Foundation
Note

This research has been funded through the PROWESS EU project (Grant agreement no: 317820), the KARYON EU project (Grant agreement no: 288195) and through EISIGS (grants from the Knowledge Foundation).

Available from: 2015-04-27 Created: 2015-04-27 Last updated: 2018-11-22Bibliographically approved
In thesis
1. Testing Safety-Critical Systems using Fault Injection and Property-Based Testing
Open this publication in new window or tab >>Testing Safety-Critical Systems using Fault Injection and Property-Based Testing
2015 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Testing software-intensive systems can be challenging, especially when safety requirements are involved. Property-Based Testing (PBT) is a software testing technique where properties about software are specified and thousands of test cases with a wide range of inputs are automatically generated based on these properties. PBT does not formally prove that the software fulfils its specification, but it is an efficient way to identify deviations from the specification. Safety-critical systems that must be able to deal with faults, without causing damage or injuries, are often tested using Fault Injection (FI) at several abstraction levels. The purpose of FI is to inject faults into a system in order to exercise and evaluate fault handling mechanisms. The aim of this thesis is to investigate how knowledge and techniques from the areas of FI and PBT can be used together to test functional and safety requirements simultaneously.

We have developed a FI tool named FaultCheck that enables PBT tools to use common FI-techniques directly on source code. In order to evaluate and demonstrate our approach, we have applied our tool FaultCheck together with the commercially available PBT tool QuickCheck on a simple and on a complex system. The simple system is the AUTOSAR End-to-End (E2E) library and the complex system is a quadcopter simulator that we developed ourselves. The quadcopter simulator is based on a hardware quadcopter platform that we also developed, and the fault models that we inject into the simulator using FaultCheck are derived from the hardware quadcopter platform. We were able to efficiently apply FaultCheck together with QuickCheck on both the E2E library and the quadcopter simulator, which gives us confidence that FI together with PBT can be used to test and evaluate a wide range of simple and complex safety-critical software.

Place, publisher, year, edition, pages
Halmstad: Halmstad University Press, 2015. p. 85
Series
Halmstad University Dissertations ; 13
Keywords
Fault Injection, FaultCheck, Property-Based Testing, Simulation, Fault Model, Quadcopter, E2E
National Category
Engineering and Technology
Identifiers
urn:nbn:se:hh:diva-28173 (URN)978-91-87045-29-5 (ISBN)978-91-87045-28-8 (ISBN)
Presentation
2015-05-26, Wigforssalen, House Visionen, Kristian IV:s väg 3, Halmstad, 10:15
Opponent
Supervisors
Projects
PROWESSKARYON
Funder
EU, FP7, Seventh Framework ProgrammeKnowledge Foundation
Note

This research has been funded through the PROWESS EU project (Grant agreement no: 317820), the KARYON EU project (Grant agreement no: 288195) and through EISIGS (grants from the Knowledge Foundation).

Available from: 2015-05-04 Created: 2015-04-27 Last updated: 2015-05-04Bibliographically approved
2. On the Design and Testing of Dependable Autonomous Systems
Open this publication in new window or tab >>On the Design and Testing of Dependable Autonomous Systems
2018 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Designing software-intensive embedded systems for dependable autonomous applications is challenging. In addition to fulfilling complex functional requirements, the system must be safe under all operating conditions, even in the presence of faults. The key to achieving this is by simulating and testing the system enough, including possible faults that can be expected, to be confident that it reaches an acceptable level of performance with preserved safety. However, as the complexity of an autonomous system and its application grows, it becomes exponentially more difficult to perform exhaustive testing and explore the full state space, which makes the task a significant challenge.

Property-Based Testing (PBT) is a software testing technique where tests and input stimuli for a system are automatically generated based on specified properties of the system, and it is normally used for testing software libraries. PBT is not a formal proof that the system fulfills the specified properties, but an effective way to find deviations from them. Safety-critical systems that must be able to deal with hardware faults are often tested using Fault Injection (FI) at several abstraction levels. The purpose of FI is to inject faults into a system in order to exercise and evaluate fault handling mechanisms. In this thesis, we utilize techniques from PBT and FI, for automatically testing functional and safety requirements of autonomous system simultaneously. We have done this on both simulations of hardware, and on real-time hardware for autonomous systems. This has been done in the process of developing a quadcopter system with collision avoidance, as well as when developing a self-driving model car. With this work we explore how tests can be auto-generated with techniques from PBT and FI, and how this approach can be used at several abstraction levels during the development of these systems. We also explore which details and design choices have to be considered while developing our simulators and embedded software, to ease testing with our proposed methods.

Place, publisher, year, edition, pages
Halmstad: Halmstad University Press, 2018. p. 171
Series
Halmstad University Dissertations ; 52
National Category
Computer Engineering
Identifiers
urn:nbn:se:hh:diva-38403 (URN)978-91-88749-10-9 (ISBN)978-91-88749-11-6 (ISBN)
Public defence
2018-12-19, Wigforssalen, Visionen, Kristian IV:s väg 3, Halmstad, 13:15 (English)
Opponent
Supervisors
Available from: 2018-11-26 Created: 2018-11-22 Last updated: 2019-04-25Bibliographically approved

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Vedder, BenjaminJonsson, Magnus

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Citation style
  • apa
  • harvard1
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  • de-DE
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