Model-driven safety assessment of robotic systems

Abstract

Robotic systems (RSs) are often used for performing critical tasks with little or no human intervention. Such RSs must satisfy certain dependability requirements including reliability, availability, security and safety. In this paper, we focus on the safety aspect and propose a methodology and associated framework for safety assessment of RSs in the early phases of development. The methodology relies upon model-driven engineering approach and describes a preliminary safety assessment of safety-critical RSs using fault tree (FT) analysis (FTA). The framework supports a domain specific language for RSs called RobotML and includes facilities (i) to automatically generate or manually construct FTs and perform both qualitative and quantitative FTA, (ii) to make semantic connections with formal verification and FTA tools, (iii) to represent FTA results in the RobotML modeling environment. In the case study, we illustrate the proposed methodology and framework by considering a mobile robot developed in the scope of the Proteus project.978-1-4673-6358-7/13/$31.00 ©2013 IEEE

Analysis of Safety Requirements Evolution in the Transition of Land Transportation Systems Toward Autonomy

“…Yakymets et al also propose a MBSE-MBSA framework with SysML models converted to the AltaRica language for the automatic generation of FTA and the computation of model checking simulations. The main advantage of their approach is to loop on the SysML models by propagating the FTA results (Yakymets et al, 2013).…”

Model-driven multi-level safety analysis of critical systems

“…It supports MSA methodology and provides various MBSA services including FTA [17], FMEA [18], hazard analysis [7], requirement engineering, etc. In order to illustrate MSA methodology, hereafter we focus on the FTA method since it is often performed on large systems and enables global top-down SA.…”

Architecture frameworks, multiobjective optimization and multiphysics simulation: Challenges and opportunities

“…Several challenges and opportunities remain. Architecture frameworks offer many potential applications for safety [31,32] and formal verification techniques [30,35]. The challenges of safety and formal verification with <Q, R,T> remain to be solved.…”