Designing and verifying distributed cyber-physical systems using Multirate PALS: An airplane turning control system case study

Bae, Kyungmin; Krisiloff, Joshua; Meseguer, José; Ölveczky, Peter Csaba

doi:10.1016/j.scico.2014.09.011

Cited by 31 publications

(5 citation statements)

References 29 publications

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“…Authors of [11,26,30] presented a real-time software for distributed CPS but did not perform a safety verification of individual components and a whole system. The works presented in [2,17,19] can be used to verify distributed CPS, but they do not consider a real-time aspect. An interesting work proposed in [24] can formally model and verify a distributed car control system against several safety objectives such as collision avoidance for an arbitrary number of cars.…”

Section: Related Workmentioning

confidence: 99%

Decentralized Real-Time Safety Verification for Distributed Cyber-Physical Systems

Tran

Nguyen

Musau

et al. 2019

Formal Techniques for Distributed Objects, Components, and Systems

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Safety-critical distributed cyber-physical systems (CPSs) have been found in a wide range of applications. Notably, they have displayed a great deal of utility in intelligent transportation, where autonomous vehicles communicate and cooperate with each other via a high-speed communication network. Such systems require an ability to identify maneuvers in real-time that cause dangerous circumstances and ensure the implementation always meets safety-critical requirements. In this paper, we propose a real-time decentralized reachability approach for safety verification of a distributed multi-agent CPS with the underlying assumption that all agents are time-synchronized with a low degree of error. In the proposed approach, each agent periodically computes its local reachable set and exchanges this reachable set with the other agents with the goal of verifying the system safety. Our method, implemented in Java, takes advantages of the timing information and the reachable set information that are available in the exchanged messages to reason about the safety of the whole system in a decentralized manner. Any particular agent can also perform local safety verification tasks based on their local clocks by analyzing the messages it receives. We applied the proposed method to verify, in real-time, the safety properties of a group of quadcopters performing a distributed search mission.

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Section: Related Workmentioning

confidence: 99%

Decentralized Real-Time Safety Verification for Distributed Cyber-Physical Systems

Tran

Nguyen

Musau

et al. 2019

Formal Techniques for Distributed Objects, Components, and Systems

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“…A combined model checking and a new version of PALS (physically asynchronous, logically synchronous) were applied to verified an airplane turning control system in [6] and [7]. Bae et al [7] also present other applications as a networked thermostat controllers and networked water tank controllers with gravity component .…”

Section: Preliminary Analysis Of Lha and Rtm For Cps Designmentioning

confidence: 99%

Towards the Modular Specification and Validation of Cyber-Physical Systems

Metelo

Braga

Brandão

2018

Computational Science and Its Applications – ICCSA 2018

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Cyber-Physical Systems (CPS) are systems controlled by one or more computer-based components tightly integrated with a set of physical components, typically described as sensors and actuators, that can either be directly attached to the computer components, or at a remote location, and accessible through a network connection. The modeling and verification of such systems is a hard task and error prone that require rigorous techniques. Hybrid automata is a formalism that extends finite-state automata with continuous behavior, described by ordinary differential equations. This paper uses a rewriting logic-based technique to model and validate CPS, thus exploring the use of a formal technique to develop such systems that combines expressive specification with efficient state-based analysis. Moreover, we aim at the modular specification of such systems such that each CPS component is independently specified and the final system emerges as the synchronous product of its constituent components. We model CPSs using Linear Hybrid Automaton and implement them in Real-Time Maude, a rewriting logic tool for real-time systems. With this method, we develop a specification for the n-reservoir problem, a CPS that controls a hose to fill a number of reservoirs according to the physical properties of the hose and the reservoirs.Most CPS have to cope with design requirements that are imposed onto them by their multiple applications in the real world. Typically a CPS has to be specified and tested against environments that require the system to:operate in real-time, realize reactive computations, leverage concurrent and distributed processing, deal with synchronization issues.In [2], one of the major books on CPS in a vast (e.g. [3,4,10,15,17,24,26,27]) literature on the subject, Alur describes how Linear Hybrid Automata (LHA) can be used for modeling CPS. In this context, the 2-reservoirs problem [17], a text-book problem on dynamic systems where a control system needs to decide to which of two tanks a hose needs to be moved given the reservoirs and hose's physical characteristics, is a CPS and therefore can be modeled as a LHA. In this paper we generalize this problem to an arbitrary number of reservoirs, each with their individual physical characteristics, and by adding latency to hose dislocation. We model and analyze both the standard problem description and the generalized version using Rewriting Logic [19], an expressive formalism for the specification and verification of concurrent and distributed systems [22]. Moreover, we specify the n-reservoir system modularly as the synchronous product [5] of its constituent components. This paper contribution is manifold : (i) a precise definition of the synchronous product of real-time rewrite systems, extending [18], (ii) a model of the n-reservoir problem as an LHA, (iii) how to describe a CPS as a LHA in Rewriting Logic by representing its components, sensors, actuators and controllers, as mathematical tuples denoting objects that communicate asynchronously, (iv) a modular specifi...

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“…However, this method also suffers from the classical model checking problems, such as the state space explosion and the lack of ability to reason about mathematical relations. Bae et al [22] combined model checking and Multirate PALS (physically asynchronous, logically synchronous) methodology for the first time to verify an airplane turning control system. More cases should be studied for the verification of distributed cyber-physical systems using Multirate PALS.…”

Section: Related Workmentioning

confidence: 99%

A Formal Approach to Verify Parameterized Protocols in Mobile Cyber-Physical Systems

Zhang

et al. 2017

Mobile Information Systems

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Mobile cyber-physical systems (CPSs) are very hard to verify, because of asynchronous communication and the arbitrary number of components. Verification via model checking typically becomes impracticable due to the state space explosion caused by the system parameters and concurrency. In this paper, we propose a formal approach to verify the safety properties of parameterized protocols in mobile CPS. By using counter abstraction, the protocol is modeled as a Petri net. Then, a novel algorithm, which uses IC3 (the state-of-the-art model checking algorithm) as the back-end engine, is presented to verify the Petri net model. The experimental results show that our new approach can greatly scale the verification capabilities compared favorably against several recently published approaches. In addition to solving the instances fast, our method is significant for its lower memory consumption.

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Designing and verifying distributed cyber-physical systems using Multirate PALS: An airplane turning control system case study

Cited by 31 publications

References 29 publications

Decentralized Real-Time Safety Verification for Distributed Cyber-Physical Systems

Decentralized Real-Time Safety Verification for Distributed Cyber-Physical Systems

Towards the Modular Specification and Validation of Cyber-Physical Systems

A Formal Approach to Verify Parameterized Protocols in Mobile Cyber-Physical Systems

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