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Formal Availability Analysis using Theorem Proving Waqar Ahmed and Osman Hasan System Analysis and Verification (SAVe Lab) National University of Sciences and Technology (NUST) Islamabad, Pakistan ICFEM 2016 Tokyo, Japan November 17, 2016
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Page 1: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Formal Availability Analysis using Theorem Proving

Waqar Ahmed and Osman Hasan

System Analysis and Verification (SAVe Lab)National University of Sciences and Technology (NUST)

Islamabad, Pakistan

ICFEM 2016Tokyo, Japan

November 17, 2016

Page 2: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Outline

1 Introduction

2 Proposed Methodology

3 Formalization Details

4 Case Study: DFH-3 Satellite’s Solar Arrays

5 Conclusions

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 2 / 41

Page 3: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Your service is NOT Available!

Amazon.com suffered 30 minute downtime in 2013 resulting in a Lossof $66,240 per Minute

Recently a 20 minutes downtime

The impact of unavailability could be greater in safety-criticalengineering systems

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 3 / 41

Page 4: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Your service is NOT Available!

Amazon.com suffered 30 minute downtime in 2013 resulting in a Lossof $66,240 per Minute

Recently a 20 minutes downtime

The impact of unavailability could be greater in safety-criticalengineering systems

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 3 / 41

Page 5: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Your service is NOT Available!

Amazon.com suffered 30 minute downtime in 2013 resulting in a Lossof $66,240 per Minute

Recently a 20 minutes downtime

The impact of unavailability could be greater in safety-criticalengineering systems

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 3 / 41

Page 6: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability

The ability of a system to deliver services when required

Instantaneous Availability - Probability that the system is functioningat a given time instant tSteady-state Availability - Long-term availability as limt→∞

Availability Analysis

Identify and assess the causes and frequencies of system failuresGoal: To reduce the unavailability probability of the given system underthe given constraints

Component ReplacementRedundancy

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 4 / 41

Page 7: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability

The ability of a system to deliver services when required

Instantaneous Availability - Probability that the system is functioningat a given time instant tSteady-state Availability - Long-term availability as limt→∞

Availability Analysis

Identify and assess the causes and frequencies of system failuresGoal: To reduce the unavailability probability of the given system underthe given constraints

Component ReplacementRedundancy

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 4 / 41

Page 8: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

System Availability Analysis

Selection of Availability Modeling Technique

Selection of Availability Analysis Technique

Availability Block Diagram (ABD) Unavailability Fault Tree (UFT) Markov Chains

Analytical Simulation Formal Methods

Component Level

System Level

Conceptual Behavioural Model of the System

Availability Calculation

Start

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 5 / 41

Page 9: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

System Availability Analysis

Selection of Availability Modeling Technique

Selection of Availability Analysis Technique

Availability Block Diagram (ABD) Unavailability Fault Tree (UFT) Markov Chains

Analytical Simulation Formal Methods

Component Level

System Level

Conceptual Behavioural Model of the System

Availability Calculation

Start

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 5 / 41

Page 10: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

System Availability Analysis

Selection of Availability Modeling Technique

Selection of Availability Analysis Technique

Availability Block Diagram (ABD) Unavailability Fault Tree (UFT) Markov Chains

Analytical Simulation Formal Methods

Component Level

System Level

Conceptual Behavioural Model of the System

Availability Calculation

Start

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 5 / 41

Page 11: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability of a Component

Modeled using a sequence of two random variables, i.e., Xi = Ti +Di

Ti : Working Time in the i th periodDi : RepairTime in the i th period

Availability = A0(t) = P(t < T0)

Availability = A1(t) = P(X0 ≤ t < X0 + T1)

Availability = Ak+1(t) = P(Sk ≤ t < Sk + Tk+1)

Overall Availability = A(t) =P(⋃k−1

i=0 (Si ≤ t < Si + Ti+1))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 6 / 41

Page 12: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability of a Component

Modeled using a sequence of two random variables, i.e., Xi = Ti +Di

Ti : Working Time in the i th periodDi : RepairTime in the i th period

T0 D0 T1

X0

First Available PeriodX0 + T1

Sk <= t < Sk + Tk

kth Available Period

t

Working period

Repair period

Availability = A0(t) = P(t < T0)

Availability = A1(t) = P(X0 ≤ t < X0 + T1)

Availability = Ak+1(t) = P(Sk ≤ t < Sk + Tk+1)

Overall Availability = A(t) =P(⋃k−1

i=0 (Si ≤ t < Si + Ti+1))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 6 / 41

Page 13: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability of a Component

Modeled using a sequence of two random variables, i.e., Xi = Ti +Di

Ti : Working Time in the i th periodDi : RepairTime in the i th period

T0 D0 T1

X0

First Available PeriodX0 + T1

Sk <= t < Sk + Tk

kth Available Period

t

Working period

Repair period

Availability = A0(t) = P(t < T0)

Availability = A1(t) = P(X0 ≤ t < X0 + T1)

Availability = Ak+1(t) = P(Sk ≤ t < Sk + Tk+1)

Overall Availability = A(t) =P(⋃k−1

i=0 (Si ≤ t < Si + Ti+1))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 6 / 41

Page 14: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability of a Component

Modeled using a sequence of two random variables, i.e., Xi = Ti +Di

Ti : Working Time in the i th periodDi : RepairTime in the i th period

Availability = A0(t) = P(t < T0)

T0 D0 T1

X0

First Available PeriodX0 + T1

Sk <= t < Sk + Tk

kth Available Period

t

Working period

Repair period

Availability = A1(t) = P(X0 ≤ t < X0 + T1)

Availability = Ak+1(t) = P(Sk ≤ t < Sk + Tk+1)

Overall Availability = A(t) =P(⋃k−1

i=0 (Si ≤ t < Si + Ti+1))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 6 / 41

Page 15: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability of a Component

Modeled using a sequence of two random variables, i.e., Xi = Ti +Di

Ti : Working Time in the i th periodDi : RepairTime in the i th period

Availability = A0(t) = P(t < T0)

Availability = A1(t) = P(X0 ≤ t < X0 + T1)

T0 D0 T1

X0

First Available PeriodX0 + T1

Sk <= t < Sk + Tk

k

k

ik XS0

kth Available Period

t

Working period

Repair period

Availability = Ak+1(t) = P(Sk ≤ t < Sk + Tk+1)

Overall Availability = A(t) =P(⋃k−1

i=0 (Si ≤ t < Si + Ti+1))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 6 / 41

Page 16: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability of a Component

Modeled using a sequence of two random variables, i.e., Xi = Ti +Di

Ti : Working Time in the i th periodDi : RepairTime in the i th period

Availability = A0(t) = P(t < T0)

Availability = A1(t) = P(X0 ≤ t < X0 + T1)

T0 D0 T1

X0

First Available PeriodX0 + T1

Sk <= t < Sk + Tk

k

k

ik XS0

kth Available Period

t

Working period

Repair period

Availability = Ak+1(t) = P(Sk ≤ t < Sk + Tk+1)

Overall Availability = A(t) =P(⋃k−1

i=0 (Si ≤ t < Si + Ti+1))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 6 / 41

Page 17: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability of a Component

Modeled using a sequence of two random variables, i.e., Xi = Ti +Di

Ti : Working Time in the i th periodDi : RepairTime in the i th period

Availability = A0(t) = P(t < T0)

Availability = A1(t) = P(X0 ≤ t < X0 + T1)

Availability = Ak+1(t) = P(Sk ≤ t < Sk + Tk+1)

T0 D0 T1

X0

First Available PeriodX0 + T1

Sk <= t < Sk + Tk

k

k

ik XS0

kth Available Period

t

Working period

Repair period

Overall Availability = A(t) =P(⋃k−1

i=0 (Si ≤ t < Si + Ti+1))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 6 / 41

Page 18: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Modeling TechniquesAvailability Block Diagrams

Model the availability relationship of system components as adiagram of sub-blocks and connectors (ABD)

1 N

M

I O

System is unavailable if all the paths for successful execution fail

Add more parallelism to meet the availability goals

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 7 / 41

Page 19: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Modeling TechniquesAvailability Block Diagrams

Model the availability relationship of system components as adiagram of sub-blocks and connectors (ABD)

1 N

M

I O

System is unavailable if all the paths for successful execution fail

Add more parallelism to meet the availability goals

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 7 / 41

Page 20: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Types of Availability Block Diagrams

ABDs Mathematical Expressions

1 N OI O limt→∞

Pr(N⋂i=1

Ainsti (t)) =N∏i=1

(µi

µi + λi)

1

M

I O limt→∞

Pr(N⋃i=1

Ainsti (t)) = 1−N∏i=1

(1− µiµi + λi

)

1 N

M

OI limt→∞

Pr(M⋃i=1

N⋂j=1

Aij(t)) = 1−M∏i=1

(1−N∏j=1

µijµij + λij

)

1 N

M

I O limt→∞

Pr(N⋂i=1

M⋃j=1

Ainstij (t)) =N∏i=1

(1−M∏j=1

(1−µij

µij + λij))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 8 / 41

Page 21: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Block DiagramsExample: Power Supply System

Main

User

Transformer

Generator

UPS

Waqar requires continuous supply of power for his Lab PC

The UPS can support the load during a switch from the main supply tothe generator

Wants to determine the availability of power supply system

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 9 / 41

Page 22: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Block DiagramsExample: Power Supply System

Main

User

Transformer

Generator

UPS

Power Supply ABD

Transformer(T)

Main(M)

Generator(G)

UPS(U)

Step 1

Construct an ABD Model

pow sys abd = (M ∩ T) ∪ G ∪ U

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 10 / 41

Page 23: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Block DiagramsExample: Power Supply System

Step 2

Determine the instantaneous and steady-state availability of eachcomponent

λ: Failure Rate

µ: Repair Rate

Ainst(t) =µ

µ+ λ+

λ

µ+ λe−(λ+µ)t

Asteady = limt→∞ Ainst(t) =µ

µ+ λ

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 11 / 41

Page 24: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Block DiagramsExample: Power Supply System

Step 3

Evaluate the overall availability using the individual componentsavailability and the ABD relationship

A(pow sys abd) = limt→∞ P((M ∩ T) ∪ G ∪ U)(t)

= 1− (1− A(M) ∗ A(T)) ∗ (1− A(G)) ∗ (1− A(U))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 12 / 41

Page 25: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Modeling TechniquesUnavailability Fault Trees

A graphical method used to identify potential causes of systemunavailableA unavailability fault tree is constructed having

Events: describing the unavailability of system componentsLogic Gates: representing logical relationship between events

AND, OR, NOR, NAND, NOR etc.

TOP event

First Level Contributor

to TOP Event by Logic

Gates

First Level Events

Second-level

Contributors to TOP by

Logic Gates

Second-level

Contributors

Basic Failure Events

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 13 / 41

Page 26: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Modeling TechniquesUnavailability Fault Trees

A graphical method used to identify potential causes of systemunavailableA unavailability fault tree is constructed having

Events: describing the unavailability of system componentsLogic Gates: representing logical relationship between events

AND, OR, NOR, NAND, NOR etc.

TOP event

First Level Contributor

to TOP Event by Logic

Gates

First Level Events

Second-level

Contributors to TOP by

Logic Gates

Second-level

Contributors

Basic Failure Events

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 13 / 41

Page 27: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Types of UFT Gates

UFT Gates Unavailability Expressions

limt→∞

AAND(t)) =N∏i=2

λiλi + µi

limt→∞

ANOR(t) = 1− limt→∞

AOR(t) =N∏i=2

(1− λiλi + µi

)

limt→∞

ANOR(t) = 1− limt→∞

AOR(t) =N∏i=2

(1− λiλi + µi

)

limt→∞

ANAND(t) = limt→∞

Pr(k⋂

i=2

Ai (t) ∩N⋂j=k

Ai (t))

=k∏

i=2

(1− µiµi + λi

) ∗N∏j=k

λiµi + λi

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 14 / 41

Page 28: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Types of FT Gates

UFT Gates Unavailability Expressions

limt→∞

AXOR(t) = limt→∞

Pr(A(t)B(t) ∪ A(t)B(t))

= (1− λ1

λ1 + µ1) ∗ λ2

λ2 + µ2+

λ1

λ1 + µ1∗ (1− λ2

λ2 + µ2)

limt→∞

ANOT (t) = Pr(A(t)) = (1− λ

λ+ µ)

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 15 / 41

Page 29: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Unavailability Fault Trees

Example: Power Supply System

Determine the overall unavailability ?

Main

User

Transformer

Generator

UPS

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 16 / 41

Page 30: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Unavailability Fault TreesExample: Power Supply System

Step 1

Construct a UFT to represent the top event (unavailability of the wholesystem) in terms of the unavailability of individual components

Main

User

Transformer

Generator

UPS

F(PS)

M T G U

pow sys fail = (M ∪ T ) ∩ G ∩ U

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 17 / 41

Page 31: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Unavailability Fault TreesExample: Power Supply System

Step 2

Determine the instantaneneous and steady-state unavailability of eachcomponent

Ainst(t) =λ

µ+ λ− λ

µ+ λe−(λ+µ)t

Asteady (t) =λ

µ+ λ

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 18 / 41

Page 32: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Unavailability Fault TreesExample: Power Supply System

Step 3

Evaluate unavailability using the Probabilistic Inclusion-Exclusion principle

P(n⋃

i=1

Ai ) =∑

J 6={},J⊆{1,2,...,n}

(−1)|J|−1P(⋂j∈J

Aj)

limt→∞

A(pow sys unavail)(t) = A((M ∪ T ) ∩ G ∩ U)

= A(M ∩ G ∩ U) + A(T ∩ G ∩ U)

− A(M ∩ T ∩ G ∩ U)

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 19 / 41

Page 33: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Analysis Techniques

Feature Paper-and-pencil Proof

SimulationTools

Model Checking Higher-order-LogicTheoremProving

Models Paper (Ran-dom Vari-ables)

Computer Pro-gram (PseudoRandom Num-bers)

State TransitionGraph (MarkovChains)

LogicalFunction

Analysis Analytically(probabilitydistributions,Expressionsfor ABD andUFTs, PIEand MI)

NumericalMethods

State Explo-ration

Formal Rea-soning

Expressiveness X (?) X X

Accuracy X (?) X X

Automation X X

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 20 / 41

Page 34: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Analysis Techniques

Feature Paper-and-pencil Proof

SimulationTools

Model Checking Higher-order-LogicTheoremProving

Models Paper (Ran-dom Vari-ables)

Computer Pro-gram (PseudoRandom Num-bers)

State TransitionGraph (MarkovChains)

LogicalFunction

Analysis Analytically(probabilitydistributions,Expressionsfor ABD andUFTs, PIEand MI)

NumericalMethods

State Explo-ration

Formal Rea-soning

Expressiveness X (?)

X X

Accuracy X (?)

X X

Automation

X X

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 20 / 41

Page 35: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Analysis Techniques

Feature Paper-and-pencil Proof

SimulationTools

Model Checking Higher-order-LogicTheoremProving

Models Paper (Ran-dom Vari-ables)

Computer Pro-gram (PseudoRandom Num-bers)

State TransitionGraph (MarkovChains)

LogicalFunction

Analysis Analytically(probabilitydistributions,Expressionsfor ABD andUFTs, PIEand MI)

NumericalMethods

State Explo-ration

Formal Rea-soning

Expressiveness X (?) X

X

Accuracy X (?)

X X

Automation X

X

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 20 / 41

Page 36: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Analysis Techniques

Feature Paper-and-pencil Proof

SimulationTools

Model Checking Higher-order-LogicTheoremProving

Models Paper (Ran-dom Vari-ables)

Computer Pro-gram (PseudoRandom Num-bers)

State TransitionGraph (MarkovChains)

LogicalFunction

Analysis Analytically(probabilitydistributions,Expressionsfor ABD andUFTs, PIEand MI)

NumericalMethods

State Explo-ration

Formal Rea-soning

Expressiveness X (?) X

X

Accuracy X (?) X

X

Automation X X

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 20 / 41

Page 37: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Availability Analysis Techniques

Feature Paper-and-pencil Proof

SimulationTools

Model Checking Higher-order-LogicTheoremProving

Models Paper (Ran-dom Vari-ables)

Computer Pro-gram (PseudoRandom Num-bers)

State TransitionGraph (MarkovChains)

LogicalFunction

Analysis Analytically(probabilitydistributions,Expressionsfor ABD andUFTs, PIEand MI)

NumericalMethods

State Explo-ration

Formal Rea-soning

Expressiveness X (?) X X

Accuracy X (?) X X

Automation X X

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 20 / 41

Page 38: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Outline

1 Introduction

2 Proposed Methodology

3 Formalization Details

4 Case Study: DFH-3 Satellite’s Solar Arrays

5 Conclusions

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 21 / 41

Page 39: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Methodology

System Descritption

System Availability Properties

Formal Model

Proof Goal

Theorem ProverFormally Verified

Availability Properties

HOL

Series

Parallel

Parallel-Series

Series-Parallel

Mathematical Expressions

)())(Pr(lim11

ttAN

i ii

i

N

i

instt i

N

i ii

iN

i

instt

tAPi

11

)1(1))((lim

)1(1))((lim1

111

M

i

N

kj ijij

ijN

j

ij

M

it

tAP

))1(1())((lim1 111

N

i

M

j ijij

ijM

j

inst

N

it

tAPij

Availability Block Diagrams

AND

OR

NAND

NOR

Failure ExpressionsUnavailabilityFault Tree Gates

N

i ii

iN

i

instt

tAi

21

))(Pr(lim

N

i ii

iN

i

instt

tAPi

21

)1(1))((lim

k

i

N

kj jj

j

ii

iNAND

ttA

2

*)1()(lim

N

i ii

iNOR

ttA

2

)1()(lim

)()1())((

{}},..,1{

1||

1

ti

i

tnI

tN

i

i APtAP

Probabilistic Inclusion-Exclusion

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 22 / 41

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Methodology

System Descritption

System Availability Properties

Formal Model

Proof Goal

Theorem ProverFormally Verified

Availability Properties

HOL

Series

Parallel

Parallel-Series

Series-Parallel

Mathematical Expressions

)())(Pr(lim11

ttAN

i ii

i

N

i

instt i

N

i ii

iN

i

instt

tAPi

11

)1(1))((lim

)1(1))((lim1

111

M

i

N

kj ijij

ijN

j

ij

M

it

tAP

))1(1())((lim1 111

N

i

M

j ijij

ijM

j

inst

N

it

tAPij

Availability Block Diagrams

AND

OR

NAND

NOR

Failure ExpressionsUnavailabilityFault Tree Gates

N

i ii

iN

i

instt

tAi

21

))(Pr(lim

N

i ii

iN

i

instt

tAPi

21

)1(1))((lim

k

i

N

kj jj

j

ii

iNAND

ttA

2

*)1()(lim

N

i ii

iNOR

ttA

2

)1()(lim

)()1())((

{}},..,1{

1||

1

ti

i

tnI

tN

i

i APtAP

Probabilistic Inclusion-Exclusion

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 22 / 41

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Methodology

System Descritption

System Availability Properties

Formal Model

Proof Goal

Theorem ProverFormally Verified

Availability Properties

HOL

Series

Parallel

Parallel-Series

Series-Parallel

Mathematical Expressions

)())(Pr(lim11

ttAN

i ii

i

N

i

instt i

N

i ii

iN

i

instt

tAPi

11

)1(1))((lim

)1(1))((lim1

111

M

i

N

kj ijij

ijN

j

ij

M

it

tAP

))1(1())((lim1 111

N

i

M

j ijij

ijM

j

inst

N

it

tAPij

Availability Block Diagrams

AND

OR

NAND

NOR

Failure ExpressionsUnavailabilityFault Tree Gates

N

i ii

iN

i

instt

tAi

21

))(Pr(lim

N

i ii

iN

i

instt

tAPi

21

)1(1))((lim

k

i

N

kj jj

j

ii

iNAND

ttA

2

*)1()(lim

N

i ii

iNOR

ttA

2

)1()(lim

)()1())((

{}},..,1{

1||

1

ti

i

tnI

tN

i

i APtAP

Probabilistic Inclusion-Exclusion

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 22 / 41

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Outline

1 Introduction

2 Proposed Methodology

3 Formalization Details

4 Case Study: DFH-3 Satellite’s Solar Arrays

5 Conclusions

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 23 / 41

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Formalization of Availability

Availability Event at time period k (Sk ≤ t < Sk + Tk) where

Sk =∑k−1

i=1 Xi

` ∀ p L k t. avail event p L k t =

{x | SIGMA (λi. FST (EL a L) x + SND (EL a L) x) (count k) ≤ t∧t < SIGMA (λi. FST (EL a L) x + SND (EL a L) x) (count k) +

FST (EL k L) x} ∩ p space p

Overall Availability in all working intervals

` ∀ p L t. union avail events p L t =

BIGUNION (IMAGE (λn. avail event p L n t) (count (LENGTH L)))

Unavailability Events

`∀ p L t. union unavail events p L t =

p space p DIFF union avail events p L t

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 24 / 41

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Formalization of Availability

Availability Event at time period k (Sk ≤ t < Sk + Tk) where

Sk =∑k−1

i=1 Xi

` ∀ p L k t. avail event p L k t =

{x | SIGMA (λi. FST (EL a L) x + SND (EL a L) x) (count k) ≤ t∧t < SIGMA (λi. FST (EL a L) x + SND (EL a L) x) (count k) +

FST (EL k L) x} ∩ p space p

Overall Availability in all working intervals

` ∀ p L t. union avail events p L t =

BIGUNION (IMAGE (λn. avail event p L n t) (count (LENGTH L)))

Unavailability Events

`∀ p L t. union unavail events p L t =

p space p DIFF union avail events p L t

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 24 / 41

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Formalization of Availability

Availability Event at time period k (Sk ≤ t < Sk + Tk) where

Sk =∑k−1

i=1 Xi

` ∀ p L k t. avail event p L k t =

{x | SIGMA (λi. FST (EL a L) x + SND (EL a L) x) (count k) ≤ t∧t < SIGMA (λi. FST (EL a L) x + SND (EL a L) x) (count k) +

FST (EL k L) x} ∩ p space p

Overall Availability in all working intervals

` ∀ p L t. union avail events p L t =

BIGUNION (IMAGE (λn. avail event p L n t) (count (LENGTH L)))

Unavailability Events

`∀ p L t. union unavail events p L t =

p space p DIFF union avail events p L t

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 24 / 41

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Series Availability Block Diagram

Available at time instant t only if all of its components are availableat time t

1 N OI O

Series Availability Block Diagram

` (∀ p. series struct p [] = p space p) ∧(∀ p h t. series struct p (h::t) = h ∩ series struct p t)

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 25 / 41

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Series Availability Block Diagram

Available at time instant t only if all of its components are availableat time t

1 N OI O

Series Availability Block Diagram

` (∀ p. series struct p [] = p space p) ∧(∀ p h t. series struct p (h::t) = h ∩ series struct p t)

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 25 / 41

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Formal Verification of Series ABD

1 N OI O

Series Availability Block Diagram:

limt→∞ Pr(⋂N

i=1 Ainsti (t)) =∏N

i=1(µi

µi + λi)

` ∀ p M L. prob space p ∧(∀z. MEM z M ⇒ 0 < FST z ∧ 0 < SND z) ∧(LENGTH L = LENGTH M) ∧(∀t’. ¬NULL (union avail event list p L (&t’)) ∧(∀z t’. MEM z (union avail event list p L (&t’)) ⇒

z ∈ events p) ∧(∀ t’.mutual indep p (union avail event list p L (&t’))) ∧inst avail exp list p L M ⇒(lim (λt.

prob p (series struct p (union avail event list p L (&t)))) =

list prod (steady state avail list M))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 26 / 41

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Formal Verification of Series ABD

1 N OI O

Series Availability Block Diagram:

limt→∞ Pr(⋂N

i=1 Ainsti (t)) =∏N

i=1(µi

µi + λi)

` ∀ p M L. prob space p ∧(∀z. MEM z M ⇒ 0 < FST z ∧ 0 < SND z) ∧(LENGTH L = LENGTH M) ∧(∀t’. ¬NULL (union avail event list p L (&t’)) ∧(∀z t’. MEM z (union avail event list p L (&t’)) ⇒

z ∈ events p) ∧(∀ t’.mutual indep p (union avail event list p L (&t’))) ∧inst avail exp list p L M ⇒(lim (λt.

prob p (series struct p (union avail event list p L (&t)))) =

list prod (steady state avail list M))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 26 / 41

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HOL Formalization of ABDs

ABDs HOL Definitions

1

M

I O

` (parallel struct [] = {}) ∧(∀ h t. parallel struct (h::t) =

h ∪ parallel struct t)

1 N

M

OI` ∀ p L. parallel series struct p L =

(parallel struct p of series struct) L

1 N

M

I O` ∀ p L. series parallel struct p L =

(series struct p of parallel struct) L

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 27 / 41

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Formally Verified Expressions

Mathematical Expressions HOL Verification

Aparallel = limt→∞

Pr(N⋃i=1

Ainsti (t)) =

= 1−N∏i=1

(1− µiµi + λi

)

` ∀p L M.

(lim (λt. prob p (parallel struct p

(union avail event list p L (&t)))) =

1 - list prod

(one minus list (steady state avail list M))

Aparallel−series = limt→∞

Pr(M⋃i=1

N⋂j=1

Aij(t))

= 1−M∏i=1

(1−N∏j=1

µijµij + λij

)

` ∀p L M.

(lim (λt.

prob p (parallel series struct p

(list union avail event list p L (&t)))) =

1 - list prod (one minus list (MAP

(λa. steady state avail a) M)))

Aseries−parallel = limt→∞

Pr(N⋂i=1

M⋃j=1

Ainstij (t))

=N∏i=1

(1−M∏j=1

(1−µij

µij + λij))

` ∀p L M.

(lim (λt.

prob p (series parallel struct p

(list union avail event list p L (&t)))) =

list prod (one minus list (MAP

(λa. compl steady state avail a) M)))

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 28 / 41

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Commonly used Unavailability Fault Tree Gates

Unavail.FT Gates HOL Formalization

` ∀ p L t. OR unavail FT gate p L t =

union list (union unavail event list p L t)

NAND

1

n

k ` ∀p L1 L2 t. NAND unavail FT gate p L1 L2 t =

inter list p (compl list p (union unavail event list p L1 t)) ∩inter list p (union unavail event list p L2 t)

NOR1

n` ∀ p L t. NOR unavail FT gate p L t =

p space p DIFF union list (union unavail event list p L t)

XOR1

2

` ∀ p A B. XOR FT unavail gate p A B =

((p space p DIFF A ∩ B) ∪ (A ∩ p space p DIFF B))

` ∀ p A. NOT unavail FT gate p A = (p space p DIFF A)

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 29 / 41

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Formal Verification of UFT Gates

Unavailability FT Gates Conclusions of Theorems

limt→∞

AOR(t) = limt→∞

Pr(N⋃i=1

Ainsti (t))

= 1−N∏i=2

(1− λiλi + µi

)

lim (λt. prob p

(OR unavail FT gate p L &t) =

1 - list prod (one minus list

(steady state unavail list M)))

limt→∞

ANOR(t) = 1− limt→∞

AOR(t)

=N∏i=2

(1− λiλi + µi

)

(lim (λt. prob p

(NOR unavail FT gate p L &t)) =

list prod (one minus list

(steady state unavail list M

limt→∞

ANAND(t) =

limt→∞

Pr(k⋂

i=2

Ai (t) ∩N⋂j=k

Ai (t)) =

k∏i=2

(1− µiµi + λi

) ∗N∏j=k

λiµi + λi

(lim (λt. prob p

(NAND unavail FT gate p L1 L2 t) =

list prod (steady state avail M1) *

list prod (steady state unavail list M2

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 30 / 41

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Formal Verification of UFT Gates

Unavailability FT Gates Conclusions of Theorems

limt→∞

AXOR(t)

= limt→∞

Pr(A(t)B(t) ∪ A(t)B(t)) =

(1− λ1

λ1 + µ1) ∗ λ2

λ2 + µ2+

λ1

λ1 + µ1∗

(1− λ2

λ2 + µ2)

(lim (λt. prob p

(XOR unavail FT gate p A B &t)) =

(1 - (steady state unavail M1))∗(steady state unavail M2) +

(steady state unavail M1)∗(1 - (steady state unavail M2))

limt→∞

ANOT (t) = Pr(A(t))

= (1− λ

λ+ µ)

lim (λt.

prob p (NOT FT gate p A &t) =

FST m / (FST m + SND m)

Formalization took about more than 9000 lines of code and 350 man-hours

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 31 / 41

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Formal Verification of UFT Gates

Unavailability FT Gates Conclusions of Theorems

limt→∞

AXOR(t)

= limt→∞

Pr(A(t)B(t) ∪ A(t)B(t)) =

(1− λ1

λ1 + µ1) ∗ λ2

λ2 + µ2+

λ1

λ1 + µ1∗

(1− λ2

λ2 + µ2)

(lim (λt. prob p

(XOR unavail FT gate p A B &t)) =

(1 - (steady state unavail M1))∗(steady state unavail M2) +

(steady state unavail M1)∗(1 - (steady state unavail M2))

limt→∞

ANOT (t) = Pr(A(t))

= (1− λ

λ+ µ)

lim (λt.

prob p (NOT FT gate p A &t) =

FST m / (FST m + SND m)

Formalization took about more than 9000 lines of code and 350 man-hours

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 31 / 41

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Outline

1 Introduction

2 Proposed Methodology

3 Formalization Details

4 Case Study: DFH-3 Satellite’s Solar Arrays

5 Conclusions

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 32 / 41

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Case Study: DFH-3 Satellite’s Solar Arrays

Launched by the China on May 12, 1997

Solar arrays supply continuous source of power

Availability of the solar array is essential for success of the mission

(a) (b)

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 33 / 41

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Availability Block Diagram of the DFH-3 Solar Array

the electric detonator

(ED)

the electric detonator

(ED)

the cutting knife (CK)

the starting spring (SS)

the starting spring (SS)

the hing bearing

(HB)

the hing bearing

(HB)

the hing of locking

mechanism (HL)

the hing of locking

mechanism (HL)

Availability Model of the DFH-3 Solar Array

` ∀p X ED X CK X SS X HB X HL t.

RO ABD p X ED X CK X SS X HB X HL t =

series parallel struct p

(list union avail event list ([[X ED;X ED];[X CK];

[X SS;X SS];[X HB];[X HB];[X HL;X HL]]) t)

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 34 / 41

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Availability Analysis of the DFH-3 Solar Array

ASA = (1− (1− µEDµED + λED

)2 ∗ µCKµCK + λCK

∗ (1− (1− µSSµSS + λSS

)∗

((µHB

µHB + λHB)2) ∗ (1− (1− µHL

µHL + λHL)2)))

Steady State Availability of the DFH-3 Solar Array

` ∀p X ED X CK X SS X HB X HL.

(lim (λt. prob p ( SA ABD p X ED X CK X SS X HB X HL &t)) =

(1 - (1 - steady state avail ED) pow 2) * steady state avail CK *

(1 - (1 - steady state avail SS) pow 2) *

((steady state avail HB) pow 2) *

(1 - (1 - steady state avail HL) pow 2)

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 35 / 41

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Unavailability Fault Tree for the DFH-3 Solar Array

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 36 / 41

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Unavailability of the he DFH-3 Solar Array

Unavailability Fault Tree for the DFH-3 Solar Array

` ∀ p x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 t.

Solar unavail FT p x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14

t =

OR unavail FT gate

[OR unavail FT gate (union avail event list p

[x1; x2; x3; x4] t);

AND unavail FT gate p (union avail event list p [x5; x6] t);

OR unavail FT gate

(union avail event list p

[x7; x8; x9; x10; x11; x12; x13; x14] t)]

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 37 / 41

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Unavailability of the DFH-3 Solar Array

ASA = 1− ((λc5

λc5 + µc5) ∗ (

λx6

λc6 + µc6)∗

(1− (1− λc1

λc1 + µc1) ∗ (1− λc2

λc2 + µc2) ∗ · · · ∗ (1− λc14

λc14 + µc14)))

Steady State Unavailability of the he DFH-3 Solar Array

` ∀ p x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14.

(lim(λt.Solar unavail FT p x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13

x14 &t)) =

1 - (list prod (steady state unavail list [c5;c6]) *

(1 - list prod (one minus list (steady state unavail list

[c1;c2;c3;c4;c6;c7;c8;c9;c10;c11;c12;c13;c14]))))

About 100 lines of code

A set of SML scripts have been developed to automatically evaluatethe availability/unavailability of the system for specific failure andrepair rates

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 38 / 41

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Unavailability of the DFH-3 Solar Array

ASA = 1− ((λc5

λc5 + µc5) ∗ (

λx6

λc6 + µc6)∗

(1− (1− λc1

λc1 + µc1) ∗ (1− λc2

λc2 + µc2) ∗ · · · ∗ (1− λc14

λc14 + µc14)))

Steady State Unavailability of the he DFH-3 Solar Array

` ∀ p x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14.

(lim(λt.Solar unavail FT p x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13

x14 &t)) =

1 - (list prod (steady state unavail list [c5;c6]) *

(1 - list prod (one minus list (steady state unavail list

[c1;c2;c3;c4;c6;c7;c8;c9;c10;c11;c12;c13;c14]))))

About 100 lines of code

A set of SML scripts have been developed to automatically evaluatethe availability/unavailability of the system for specific failure andrepair rates

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 38 / 41

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Outline

1 Introduction

2 Proposed Methodology

3 Formalization Details

4 Case Study: DFH-3 Satellite’s Solar Arrays

5 Conclusions

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 39 / 41

Page 65: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Conclusions

Accuracy of availability analysis is very important while working withsafety-critical systems

The proposed method provides a considerably Sound and Completeavailability analysis results compared to the existing alternatives

Future Work

Formalize dynamic ABDs and UFT gatesEnhance the automation in the reasoning process by buildingspecialized tacticsDevelop a GUI based formal availability analysis tool that acceptsABDs and UFTs as input and uses formally verified theorems tocompute the overall availability of the system

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 40 / 41

Page 66: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Conclusions

Accuracy of availability analysis is very important while working withsafety-critical systems

The proposed method provides a considerably Sound and Completeavailability analysis results compared to the existing alternatives

Future Work

Formalize dynamic ABDs and UFT gatesEnhance the automation in the reasoning process by buildingspecialized tacticsDevelop a GUI based formal availability analysis tool that acceptsABDs and UFTs as input and uses formally verified theorems tocompute the overall availability of the system

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 40 / 41

Page 67: Formal Availability Analysis using Theorem Provingohasan.seecs.nust.edu.pk/talks/ICFEM_2016.pdf · 2016. 12. 22. · Formal Availability Analysis using Theorem Proving Waqar Ahmed

Thanks!

More information: save.nust.seecs.edu.pk

W. Ahmed and O. Hasan Formal Availability Analysis in HOL November 17, 2016 41 / 41


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