GOALI: Monitoring and Reconfiguration for Fault-Tolerance of Embedded Control Software with Automotive Applications

目标：嵌入式软件在汽车应用中的容错监测和重构项目摘要：目标：提出的研究目标是开发一种故障检测预测、隔离和恢复的方法，其动机来自于汽车应用中的嵌入式控制软件的容错。软件几乎存在于所有复杂的系统中，包括安全关键系统，如汽车、飞机、核电站、医疗设备等，并且有许多由于软件错误而导致这些系统失败的记录案例。现有的模拟/测试/验证实践不能保证部署的软件是无错误的。（这个问题通常是无法确定的。）因此，重要的是要内置措施，以提供对任何可能危及用户或周围环境安全的软件错误的容忍度。提出的研究是由汽车系统的安全关键应用的动机，并提出与通用汽车公司（GM）合作。现代汽车将配备先进的功能，如防撞、自适应巡航控制、车道定心/改变，所有这些都将在软件中实现。汽车应用程序的容错需要新的经济有效的方法，即使在新部署的软件存在错误的情况下也要确保安全。智力优势：它包括了汽车应用中嵌入式软件容错方法的开发。我们将开发可扩展的故障诊断和预测技术，用于(i)嵌入式控制软件（建模为扩展有限自动机）通过监测其自身属性的行为，以及（ii）整个受控系统（建模为混合自动机）通过监测其自身属性的行为。监视系统级属性可以防止控制器级属性的任何可能的不完整性。我们提出了一种基于抽象的方法，通过监控系统级属性来检测和隔离故障控制器组件。提出了基于抽象的系统级属性违例预测技术（即在违例发生之前进行预测）。在这方面提出了检测、隔离和预后指标的概念。还将开发控制重构的技术，以实现故障恢复，并将依赖于各种离散模式稳定区域的可达性，以及基于模型预测和轨迹灵敏度的计算。避碰软件将被用作案例研究。除了建模、监测、可诊断性/可预见性验证和重构之外，还将研究确定所提出的容错策略分配和实时调度的计算资源。更广泛的影响：对意外软件错误的容错越来越受到关注，特别是对于安全或安全关键应用程序和基础设施，我们的研究将有助于这一主题。此外，这是一项与通用汽车的合作研究，并且很可能在汽车行业产生影响，因为将开发出实用，可扩展且具有成本效益的解决方案。所提出的方法是通用的，足以适用于其他嵌入式应用程序。参与该项目的两名博士生和一名博士后将接受有关工业需求问题的培训。他们将被邀请到通用汽车暑期实习，从而获得实际的工业接触机会。研究成果将通过pi的主页和公共领域出版物发布，并将被整合到ISU离散事件控制、容错计算和嵌入式系统的研究生课程中。PI致力于招收少数民族学生（PI三分之一的学生是少数民族）。

GOALI: Monitoring and Reconfiguration for Fault-Tolerance of Embedded Softwarewith Automotive ApplicationsRatnesh Kumar (ISU) and Shengbing Jiang (GM R&D)Project SummaryObjectives:The objective of the proposed research is to develop an approach for fault detection prediction, isolation and recovery, and is motivated from fault-tolerance of embedded control software in automotive applications. Software is present in virtually all complex systems, including safety-critical systems such as automobiles, aircrafts, nuclear plants, medical devices, etc., andthere are many documented cases of failures of such systems due to software errors. The existing simulation/testing/verification practices cannot guarantee that a deployed software will be errorfree.(The problem is in general undecidable.) So it is important that measures be built-in for providing tolerance against any software-bugs that can compromise the safety of the users or the surrounding environment. The proposed research is motivated from the safety-critical application of automotive systems, and is proposed in collaboration with General Motors (GM). Modern vehicleswill be equipped with advanced features such as collision avoidance, adaptive cruise control, lane centering/changing, all of which will be implemented in software. New cost-effective approaches are needed for fault tolerance of automotive applications that will ensure safety even in the presence of errors in newly deployed software.Intellectual Merits:It includes the development of an approach for fault-tolerance of embeddedsoftware that are present in automotive applications. We will develop scalable fault diagnosis and prognosis techniques for (i) embedded control software (modeled as extended finite automata) by monitoring their behavior against their own properties, and (ii) overall controlled system (modeledas hybrid automata) by monitoring its behavior against its own properties. Monitoring the system level properties safeguards against any possible incompleteness of the controller level properties.We propose an abstraction based approach to detect and isolate a faulty controller component by monitoring of system-level properties. Abstraction based technique for prognosis of system-level property violations (i.e., prediction of such violations prior to their occurrence) is also proposed.The notions of detection, isolation, and prognostic indices have been proposed in this regard. Techniques will also be developed for control reconfiguration to enable fault recovery, and will rely on the reachability over the stability regions of various discrete modes, and also on computations based on model-prediction and trajectory-sensitivities. The collision avoidance software will be used as a case-study. Besides modeling, monitoring, diagnosability/prognosability verification, and reconfiguration, research will also be carried out to determine the computational resources for allocation and real-time scheduling of the proposed fault-tolerance strategies.Broader Impacts: Fault-tolerance against unanticipated software-errors is of growing interest,specially for safety- or security-critical applications and infrastructure, and our research will contribute to this topic. Further it is a collaborative research with GM, and an impact in automotive industry is likely for the fact that practical, scalable, and cost-effective solution will be developed.The proposed approach is general enough to be applicable to other embedded applications. Two PhD students and a post-doc involved in the project will get trained in a problem of industrial need. They will get practical exposure to industry through invitation to summer internships at GM. The research findings will be made available via PIs homepages and public-domain publications,and will be integrated into graduate courses in discrete-event controls, fault-tolerant computing, and embedded systems at ISU. PIs are committed to recruiting minority students (one third of PI's students are minority.)