Design-Time Safety Assessment of Robotic Systems Using Fault Injection Simulation in a Model-Driven Approach

The rapid advancement of autonomy in robotic systems together with the increasing interaction with humans in shared workspaces (e.g. collaborative robots), raises pressing concerns about system safety. In recent years, the need of model-driven approaches for safety analysis during the design stage h...

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Vydáno v:2019 ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems Companion (MODELS-C) s. 577 - 586
Hlavní autoři: Juez Uriagereka, Garazi, Amparan, Estibaliz, Martinez Martinez, Cristina, Martinez, Jabier, Ibanez, Aurelien, Morelli, Matteo, Radermacher, Ansgar, Espinoza, Huascar
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 01.09.2019
Témata:
fault injection
Hazards
Impedance
Model driven engineering
Pressing
Prevention and mitigation
Real-time systems
Reliability engineering
RobMoSys
robotic systems
Robustness
Safety
Torque
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Shrnutí:The rapid advancement of autonomy in robotic systems together with the increasing interaction with humans in shared workspaces (e.g. collaborative robots), raises pressing concerns about system safety. In recent years, the need of model-driven approaches for safety analysis during the design stage has gained a lot of attention. In this context, simulation-based fault injection combined with a virtual robot is a promising practice to complement traditional safety analysis. Fault injection is used to identify the potential safety hazard scenarios and to evaluate the controller's robustness to certain faults. Besides, it enables a quantitative assessment w.r.t. other techniques that only give qualitative hints, such as FMEA. Thus, it facilitates the refinement of safety requirements and the conception of concrete mitigation actions. This paper presents a tool-supported approach that leverages models and simulation-assisted fault injection to assess safety and reliability of robotic systems in the early phases of design. The feasibility of this method is demonstrated by applying it to the design of a real-time cartesian impedance control system in torque mode as a use case scenario.
DOI:10.1109/MODELS-C.2019.00088