For Industrial Level Cyber-Physical System...Sensitivity: Internal Test Case Virtual Sensor Value...

transcript

Sensitivity: Internal

For Industrial Level

Cyber-Physical System

in Complex Environment

ASQN 2019

Suggestion of Testing Method

International standard of tube : 3kg

Video transmission and reception : 2km

Possible 2nd Accident in case of failurein securing position accuracy and drop accuracy

Altitude 150m,

"blower not allowed"

Difficult to verify thatthe drones perform their mission

correctly even in strong winds

Marine rescue drone Air blower

Test Management System

Test Case

Inject

Logging

Test Case

Virtual

Sensor

Value (Serial)

Drone flight

Command (Serial)

Command

Controller

Simulator

Safety of Flight Controller

Accuracy of Autonomous Flight

Compliance of Law(Safety)

Reliability of Mission Execution

Input Valu

Software

Sensor (GPS, Temp etc.)

Actuator (Motor etc.)

Hardware

Software

10010100101

(Analog Signal) or (Digital Signal)

011010110100

(Processed Analog Signal) or (Processed Digital Signal)

Real World Value

Result Action

(Flight, Stop etc.)

Test Range

“Safety”

Diversity Efficiency

CODE (Actual result)SPEC

Logic analysis method (MUTP example) Fault Types based on DNF

Perform DNF-based logic analysis combined with Boolean expressions

Related Technology

Hooking

“Pick up the applein front of you.”

Sniffing

The position of the

present hand is

Hooking “Pick up the applein front of you.”

SniffingSensor

Software

Test Management SystemSimulatorSimulator

Actuator3

Simulator

The position of the

present hand is

Test M

anagem

ent Are

aDevic

nder T

tion A

Software

Sensor

Actuator

Hooking

Simulator

Interpreter

Hooking Sniffing Interpret the result Disarming Avoid Probe Effect Abstract Physical Record & Play

Test M

anagem

ent Are

aDevic

nder T

Software

Sensor

Actuator

Simulator

Interpreter

SniffingSim

tion A

Test M

anagem

ent Are

aDevic

nder T

tion A

Software

Sensor

Actuator

Simulator

Interpreter

Environment

Model InitialSplitting

Interpreting

Update

Test Case

• Fly Seoul Blue House

• Fly Jeju Airport• Wind 5m/s

Data 1

Data 2

Data 3

Test M

anagem

ent Are

aDevic

nder T

tion A

Software

Sensor

Actuator

Test Case

Test Data

Generator

Flight

CommandManager

Simulator

FailSafeMechanismInside

Fail SafeMechanismDisarming

Interpreter

- Restart the CPS system- Gap Data Injection

Test M

anagem

ent Are

aDevic

nder T

tion A

Software

Sensor

Actuator

Probe Effect Avoidance

Hooking

Snipping

(Serial #1. 500Hz)

(Serial #2. 200Hz)

(10Hz)

Test M

anagem

ent Are

aDevic

nder T

tion A

Test Data

Generator

Flight

CommandManager

0’’ Arm5’’ Take off15’’ Goto 000.000 position45’’ Land55’’ Disarm…

Wind,Temperature,…

Size,# of Motors,…

Test Case

Simulator

Interpreter

Environment

Model InitialSplitting

Update

Convert Abstract TC to Physical TD

Test M

anagem

ent Are

aDevic

nder T

tion A

Test Data

Generator

Flight

CommandManager

Recording & play

Test M

anagem

ent Are

aDevic

nder T

tion A

Simulator

Interpreter

Environment

Wind,Temp,…

Quad,Hexa,…

Update

InitialSplitting

Roll Axis Pitch Axis Yaw Axis

AxisFull

ErrorAnalysis(10%)

Test#1

Test#2

Test#3

Test#4

Test#5

RollError

-90~+90 18 1.0278 1.7750 1.6982 1.9184 1.8293 …

PitchError

-90~+9018 2.2939 3.1922 2.3077 2.6055 2.5094 …

YawError

-180~+18036 10.326 9.5128 8.0421 15.193 15.136 …

Field Test Comparison Flight Data

Test Case

Conclusion

Chon SunilPark Jihwan

THANK YOUCONTACT: sichon@thinkforbl.com

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For Industrial Level Cyber-Physical System...Sensitivity: Internal Test Case Virtual Sensor Value...

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