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Sensitivity: Internal For Industrial Level Cyber - Physical System in Complex Environment ASQN 2019 Suggestion of Testing Method
Sensitivity: Internal
For Industrial Level
Cyber-Physical System
in Complex Environment
ASQN 2019
Suggestion of Testing Method
Sensitivity: Internal
Sensitivity: Internal
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
Sensitivity: Internal
Test Management System
Test Case
Inject
Logging
CPS
Sensitivity: Internal
Test Case
Virtual
Sensor
Value (Serial)
Drone flight
Command (Serial)
CPS
Test Management System
Command
Controller
Simulator
Safety of Flight Controller
Accuracy of Autonomous Flight
Compliance of Law(Safety)
Reliability of Mission Execution
Test
Ta
rge
t
Sensitivity: Internal
Sensitivity: Internal
Sensitivity: Internal
Input Valu
eCPS
Outp
ut
Valu
e
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
Test Range
Sensitivity: Internal
“Safety”
Diversity Efficiency
Sensitivity: Internal
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
Sensitivity: Internal
Sensitivity: Internal
Hooking
“Pick up the applein front of you.”
Sniffing
The position of the
present hand is
30cm.
Sensitivity: Internal
Hooking “Pick up the applein front of you.”
SniffingSensor
Software
Test Management SystemSimulatorSimulator
1
2
3
4
5
1
2
5 5 4
Actuator3
5
Simulator
The position of the
present hand is
30cm.
Sensitivity: Internal
Test M
anagem
ent Are
aDevic
e U
nder T
est A
rea
Sim
ula
tion A
rea
Software
Sensor
Actuator
Hooking
Simulator
Interpreter
Hooking Sniffing Interpret the result Disarming Avoid Probe Effect Abstract Physical Record & Play
Sensitivity: Internal
Test M
anagem
ent Are
aDevic
e U
nder T
est A
rea
Software
Sensor
Actuator
Simulator
Interpreter
SniffingSim
ula
tion A
rea
Hooking Sniffing Interpret the result Disarming Avoid Probe Effect Abstract Physical Record & Play
Sensitivity: Internal
Test M
anagem
ent Are
aDevic
e U
nder T
est A
rea
Sim
ula
tion A
rea
Software
Sensor
Actuator
Simulator
Interpreter
Environment
Model
Drone
Model InitialSplitting
Interpreting
Update
Test Case
• Fly Seoul Blue House
• Fly Jeju Airport• Wind 5m/s
Hooking Sniffing Interpret the result Disarming Avoid Probe Effect Abstract Physical Record & Play
Data 1
Data 2
Data 3
Sensitivity: Internal
Test M
anagem
ent Are
aDevic
e U
nder T
est A
rea
Sim
ula
tion A
rea
Software
Sensor
Actuator
Test Case
• Fly Seoul Blue House
• Fly Jeju Airport• Wind 5m/s
Test Management System
Test Data
Generator
Flight
CommandManager
Simulator
FailSafeMechanismInside
Fail SafeMechanismDisarming
Interpreter
Hooking Sniffing Interpret the result Disarming Avoid Probe Effect Abstract Physical Record & Play
- Restart the CPS system- Gap Data Injection
Sensitivity: Internal
Test M
anagem
ent Are
aDevic
e U
nder T
est A
rea
Sim
ula
tion A
rea
Software
Sensor
Actuator
Probe Effect Avoidance
Hooking
Snipping
(Serial #1. 500Hz)
(Serial #2. 200Hz)
(10Hz)
Hooking Sniffing Interpret the result Disarming Avoid Probe Effect Abstract Physical Record & Play
Sensitivity: Internal
Test M
anagem
ent Are
aDevic
e U
nder T
est A
rea
Sim
ula
tion A
rea
Test Management System
Test Data
Generator
Flight
CommandManager
0’’ Arm5’’ Take off15’’ Goto 000.000 position45’’ Land55’’ Disarm…
Wind,Temperature,…
Size,# of Motors,…
Test Case
• Fly Seoul Blue House
• Fly Jeju Airport• Wind 5m/s
Simulator
Interpreter
Environment
Model
Drone
Model InitialSplitting
Update
Convert Abstract TC to Physical TD
Hooking Sniffing Interpret the result Disarming Avoid Probe Effect Abstract Physical Record & Play
Sensitivity: Internal
Test M
anagem
ent Are
aDevic
e U
nder T
est A
rea
Sim
ula
tion A
rea
Test Management System
Test Data
Generator
Flight
CommandManager
Recording & play
Hooking Sniffing Interpret the result Disarming Avoid Probe Effect Abstract Physical Record & Play
Sensitivity: Internal
Test M
anagem
ent Are
aDevic
e U
nder T
est A
rea
Sim
ula
tion A
rea
Simulator
Interpreter
Environment
Model
Drone
Model
Wind,Temp,…
Quad,Hexa,…
Update
InitialSplitting
Roll Axis Pitch Axis Yaw Axis
AxisFull
Range
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
• Fly Seoul Blue House
• Fly Jeju Airport• Wind 5m/s
Sensitivity: Internal
Conclusion
