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Model-based Fault Injection Experiments for the Safety Analysis of Exoskeleton System

Fabarisov, Tagir; Mamaev, Ilshat; Morozov, Andrey; Janschek, Klaus

Abstract (englisch):
Model-based fault injection methods are widely used for the evaluation of fault tolerance in safety-critical control systems. In this paper, we introduce a new model-based fault injection method implemented as a highly-customizable Simulink block called FIBlock. It supports the injection of typical faults of essential heterogeneous components of Cyber-Physical Systems, such as sensors, computing hardware, and network. The FIBlock GUI allows the user to select a fault type and configure multiple parameters to tune error magnitude, fault activation time, and fault exposure duration. Additional trigger inputs and outputs of the block enable the modeling of conditional faults. Furthermore, two or more FIBlocks connected with these trigger signals can model chained errors. The proposed fault injection method is demonstrated with a lower-limb EXO-LEGS exoskeleton, an assistive device for the elderly in everyday life. The EXO-LEGS model-based dynamic control is realized in the Simulink environment and allows easy integration of the aforementioned FIBlocks. Exoskeletons, in general, being a complex CPS with multiple sensors and actuators, are prone to hardware and software faults. ... mehr

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Originalveröffentlichung
DOI: 10.3850/978-981-14-8593-0
Zugehörige Institution(en) am KIT Institut für Prozessrechentechnik, Automation und Robotik (IPR)
Publikationstyp Proceedingsbeitrag
Publikationsdatum 05.11.2020
Sprache Englisch
Identifikator ISBN: 978-981-14-8593-0
KITopen-ID: 1000128837
Erschienen in e-proceedings of the 30th European Safety and Reliability Conference and 15th Probabilistic Safety Assessment and Management Conference (ESREL2020 PSAM15) : 01-05 November 2020, Venice, Italy. Ed.: P. Baraldi
Veranstaltung 30th / 15 th European Safety and Reliability Conference and Probabilistic Safety Assessment and Management Conference (ESREL2020 PSAM15 2020), Venedig, Italien, 01.11.2020 – 05.11.2020
Seiten 1338-1345
Schlagwörter cyber-physical system, safety, fault-tolerance, fault injection, model-based methods, simulink, chainederrors, exoskeleton systems
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