Software; Control Engineering; Cyber-Physical Systems
Résumé :
[en] Control systems are ubiquitous and often at the core of Cyber-Physical Systems, like cars and aeroplanes. They are implemented as embedded software that interacts in closed loop with the physical world through sensors and actuators. As a consequence, the software cannot just be tested in isolation. To close the loop in a testing environment and root causing failure generated by different parts of the system, executable models are used to abstract specific components. Different testing setups can be implemented by abstracting different elements: The most common ones are model-in-the-loop, software-in-the-loop, hardware-in-the-loop, and real-physics-in-the-loop. In this article, we discuss the properties of these setups and the types of faults they can expose. We develop a comprehensive case study using the Crazyflie, a drone whose software and hardware are open source. We implement all the most common testing setups and ensure the consistent injection of faults in each of them. We inject faults in the control system and we compare with the nominal performance of the non-faulty software. Our results show the specific capabilities of the different setups in exposing faults. Contrary to intuition and previous literature, we show that the setups do not belong to a strict hierarchy, and they are best designed to maximize the differences across them rather than to be as close as possible to reality.
Centre de recherche :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > SVV - Software Verification and Validation
H2020 - 871259 - ADMORPH - Towards Adaptively Morphing Embedded Systems
Intitulé du projet de recherche :
ADMORPH - Towards Adaptively Morphing Embedded Systems
Organisme subsidiant :
European Union’s Horizon 2020 research and innovation programme Wallenberg AI, Autonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation Union Européenne
N° du Fonds :
871259
Subventionnement (détails) :
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 871259 (ADMORPH project). This publication reflects only the authors’ view and the European Com- mission is not responsible for any use that may be made of the information it contains. This work was partially supported by the Wallenberg AI, Autonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation.
2022. Retrieved from https://github.com/ManCla/testing-abstractions
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