Efficient integration of online model checking into a small-footprint real-time operating system
Summary For highly safety‐critical applications, rigorous offline verification should be complemented by online verification. One promising technique is Online Model Checking (OMC). The basic approaches on how to design and implement OMC have been discussed in a couple of papers. As OMC is a run‐tim...
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| Veröffentlicht in: | Concurrency and computation Jg. 28; H. 14; S. 3773 - 3797 |
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25.09.2016
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| Abstract | Summary
For highly safety‐critical applications, rigorous offline verification should be complemented by online verification. One promising technique is Online Model Checking (OMC). The basic approaches on how to design and implement OMC have been discussed in a couple of papers. As OMC is a run‐time‐provided service, it seems to be natural providing it by an operating system (OS) service like any other service offered by the OS. In this paper, we study the feasibility of this approach, that is, whether OMC can be integrated efficiently into an OS. As we are dealing with real‐time systems, the OS in our case is a real‐time operating system (RTOS). This study makes use of a specific OMC system, implemented in our group. We also have implemented a highly efficient RTOS with an extremely small footprint, called ORCOS (Organic ReConfigurable Operating System). Therefore, we use ORCOS as an example RTOS to investigate the feasibility of integrating OMC as an RTOS service. The correctness of the RTOS is not subject to be verified in this case; it is just the service provider. In order to ease understanding the approach, the paper contains a brief introduction into the fundamental concepts of OMC and the way to provide it as an integrated RTOS service. Additionally, basic principles of ORCOS are presented. Based on these foundations, we discuss various integration methods. OMC may become an integral part of the RTOS; it may become a separate task running on the same host as the RTOS, or it may be implemented on a remote host as a kind of service‐oriented architecture. In all three cases, OMC runs concurrently to the application task to be online model checked. We argue that the second approach turns out to be the most appropriate one. It is well suited to state‐of‐the‐art hypervisor‐based mixed criticality architectures, running on a multi‐core hardware platform. In addition, the service‐oriented architecture is discussed as well, however only marginally. To test the feasibility of the approach, an analytical investigation of the implied overhead is carried out. This investigation is complemented by experiments based on a prototype implementation. The promising results obtained by these two studies then are further underpinned by a realistic case study. We use the resolution advisory component of traffic alert and collision avoidance system for this purpose. Copyright © 2015 John Wiley & Sons, Ltd. |
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| AbstractList | Summary
For highly safety‐critical applications, rigorous offline verification should be complemented by online verification. One promising technique is Online Model Checking (OMC). The basic approaches on how to design and implement OMC have been discussed in a couple of papers. As OMC is a run‐time‐provided service, it seems to be natural providing it by an operating system (OS) service like any other service offered by the OS. In this paper, we study the feasibility of this approach, that is, whether OMC can be integrated efficiently into an OS. As we are dealing with real‐time systems, the OS in our case is a real‐time operating system (RTOS). This study makes use of a specific OMC system, implemented in our group. We also have implemented a highly efficient RTOS with an extremely small footprint, called ORCOS (Organic ReConfigurable Operating System). Therefore, we use ORCOS as an example RTOS to investigate the feasibility of integrating OMC as an RTOS service. The correctness of the RTOS is not subject to be verified in this case; it is just the service provider. In order to ease understanding the approach, the paper contains a brief introduction into the fundamental concepts of OMC and the way to provide it as an integrated RTOS service. Additionally, basic principles of ORCOS are presented. Based on these foundations, we discuss various integration methods. OMC may become an integral part of the RTOS; it may become a separate task running on the same host as the RTOS, or it may be implemented on a remote host as a kind of service‐oriented architecture. In all three cases, OMC runs concurrently to the application task to be online model checked. We argue that the second approach turns out to be the most appropriate one. It is well suited to state‐of‐the‐art hypervisor‐based mixed criticality architectures, running on a multi‐core hardware platform. In addition, the service‐oriented architecture is discussed as well, however only marginally. To test the feasibility of the approach, an analytical investigation of the implied overhead is carried out. This investigation is complemented by experiments based on a prototype implementation. The promising results obtained by these two studies then are further underpinned by a realistic case study. We use the resolution advisory component of traffic alert and collision avoidance system for this purpose. Copyright © 2015 John Wiley & Sons, Ltd. For highly safety‐critical applications, rigorous offline verification should be complemented by online verification. One promising technique is Online Model Checking (OMC). The basic approaches on how to design and implement OMC have been discussed in a couple of papers. As OMC is a run‐time‐provided service, it seems to be natural providing it by an operating system (OS) service like any other service offered by the OS. In this paper, we study the feasibility of this approach, that is, whether OMC can be integrated efficiently into an OS. As we are dealing with real‐time systems, the OS in our case is a real‐time operating system (RTOS). This study makes use of a specific OMC system, implemented in our group. We also have implemented a highly efficient RTOS with an extremely small footprint, called ORCOS (Organic ReConfigurable Operating System). Therefore, we use ORCOS as an example RTOS to investigate the feasibility of integrating OMC as an RTOS service. The correctness of the RTOS is not subject to be verified in this case; it is just the service provider. In order to ease understanding the approach, the paper contains a brief introduction into the fundamental concepts of OMC and the way to provide it as an integrated RTOS service. Additionally, basic principles of ORCOS are presented. Based on these foundations, we discuss various integration methods. OMC may become an integral part of the RTOS; it may become a separate task running on the same host as the RTOS, or it may be implemented on a remote host as a kind of service‐oriented architecture. In all three cases, OMC runs concurrently to the application task to be online model checked. We argue that the second approach turns out to be the most appropriate one. It is well suited to state‐of‐the‐art hypervisor‐based mixed criticality architectures, running on a multi‐core hardware platform. In addition, the service‐oriented architecture is discussed as well, however only marginally. To test the feasibility of the approach, an analytical investigation of the implied overhead is carried out. This investigation is complemented by experiments based on a prototype implementation. The promising results obtained by these two studies then are further underpinned by a realistic case study. We use the resolution advisory component of traffic alert and collision avoidance system for this purpose. Copyright © 2015 John Wiley & Sons, Ltd. For highly safety-critical applications, rigorous offline verification should be complemented by online verification. One promising technique is Online Model Checking (OMC). The basic approaches on how to design and implement OMC have been discussed in a couple of papers. As OMC is a run-time-provided service, it seems to be natural providing it by an operating system (OS) service like any other service offered by the OS. In this paper, we study the feasibility of this approach, that is, whether OMC can be integrated efficiently into an OS. As we are dealing with real-time systems, the OS in our case is a real-time operating system (RTOS). This study makes use of a specific OMC system, implemented in our group. We also have implemented a highly efficient RTOS with an extremely small footprint, called ORCOS (Organic ReConfigurable Operating System). Therefore, we use ORCOS as an example RTOS to investigate the feasibility of integrating OMC as an RTOS service. The correctness of the RTOS is not subject to be verified in this case; it is just the service provider. In order to ease understanding the approach, the paper contains a brief introduction into the fundamental concepts of OMC and the way to provide it as an integrated RTOS service. Additionally, basic principles of ORCOS are presented. Based on these foundations, we discuss various integration methods. OMC may become an integral part of the RTOS; it may become a separate task running on the same host as the RTOS, or it may be implemented on a remote host as a kind of service-oriented architecture. In all three cases, OMC runs concurrently to the application task to be online model checked. We argue that the second approach turns out to be the most appropriate one. It is well suited to state-of-the-art hypervisor-based mixed criticality architectures, running on a multi-core hardware platform. In addition, the service-oriented architecture is discussed as well, however only marginally. To test the feasibility of the approach, an analytical investigation of the implied overhead is carried out. This investigation is complemented by experiments based on a prototype implementation. The promising results obtained by these two studies then are further underpinned by a realistic case study. We use the resolution advisory component of traffic alert and collision avoidance system for this purpose. |
| Author | Zhao, Yuhong Rammig, Franz-Josef Sudhakar, Krishna |
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| References_xml | – reference: Stallings W. Operating Systems: Internals and Design Principles (6th edn.) Prentice Hall Press: Upper Saddle River, NJ, USA, 2008. – reference: Chan W, Anderson RJ, Beame P, Burns S, Modugno F, Notkin D, Reese JD. Model checking large software specifications. IEEE Transactions on Software Engineering 1998; 24(7): 156-166. – reference: Biere A, Cimatti A, Clarke EM, Strichman O, Zhu Y. Bounded model checking. Advances in Computers 2003; 58: 118-149. – reference: Buttazzo G. Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications, vol. 24. Springer, US, 2011. – reference: Clark EM, Grumberg O, Jr., Peled DA. Model Checking.MIT Press: Cambridge, MA, USA, 1999. – reference: Do H, Elbaum S, Rothermel G. Supporting controlled experimentation with testing techniques: An infrastructure and its potential impact. Empirical Software Engineering. 2005; 10(4): 405-435. – reference: Leveson NG, Heimdahl MPE, Hildreth H, Reese JD. Requirements specification for process-control systems. IEEE Transactions on Software Engineering 1994; 20(9): 684-706. – reference: Kupferman O, Vardi MY. Model checking of safety properties. Formal Methods in System Design. 2001; 19(3): 291-314. – reference: Ecker W, Müller W, Dömer R. Hardware-Dependent Software: Principles and Practice (1st edn.) Springer: Netherlands, 2009. – year: 2011 – year: 2009 – article-title: zChaff SAT Solver – start-page: 142 year: 2001 end-page: 151 – article-title: QEMU for PowerPC 405 – start-page: 168 year: 2004 end-page: 176 – year: 2008 – year: 2006 – year: February 2011 article-title: U.S. Department of Transportation, Federal Aviation Administration (FAA): Introduction to TCAS II version 7.1 – start-page: 154 year: 2012 end-page: 161 – article-title: Organic ReConfigurable Operating System – volume: 10 start-page: 405 issue: 4 year: 2005 end-page: 435 article-title: Supporting controlled experimentation with testing techniques: An infrastructure and its potential impact publication-title: Empirical Software Engineering – volume: 58 start-page: 118 year: 2003 end-page: 149 article-title: Bounded model checking publication-title: Advances in Computers – start-page: 79 year: 1996 end-page: 83 – volume: 20 start-page: 684 issue: 9 year: 1994 end-page: 706 article-title: Requirements specification for process‐control systems publication-title: IEEE Transactions on Software Engineering – volume: 19 start-page: 291 issue: 3 year: 2001 end-page: 314 article-title: Model checking of safety properties publication-title: Formal Methods in System Design – volume: 24 start-page: 156 issue: 7 year: 1998 end-page: 166 article-title: Model checking large software specifications publication-title: IEEE Transactions on Software Engineering – year: January 2012 article-title: The European Organization for the Safety of Air Navigation (EUROCONTROL): ACAS II Guide – start-page: 293 year: 2013 end-page: 305 – year: 1999 – start-page: 40 year: 2013 end-page: 47 – ident: e_1_2_9_2_1 doi: 10.1109/ISORC.2012.28 – ident: e_1_2_9_22_1 doi: 10.1007/978-3-540-24730-2_15 – volume-title: Model Checking year: 1999 ident: e_1_2_9_3_1 – ident: e_1_2_9_5_1 – volume-title: Operating Systems: Internals and Design Principles year: 2008 ident: e_1_2_9_9_1 – ident: e_1_2_9_16_1 doi: 10.1145/229000.226304 – ident: e_1_2_9_21_1 doi: 10.1007/s10664-005-3861-2 – ident: e_1_2_9_11_1 doi: 10.1007/978-1-4614-0676-1 – ident: e_1_2_9_17_1 doi: 10.1109/32.708566 – ident: e_1_2_9_8_1 – ident: e_1_2_9_20_1 – ident: e_1_2_9_12_1 – ident: e_1_2_9_18_1 doi: 10.1145/503209.503230 – ident: e_1_2_9_7_1 doi: 10.1109/LADC.2013.20 – ident: e_1_2_9_14_1 doi: 10.1007/978-3-642-38853-8_27 – ident: e_1_2_9_15_1 doi: 10.1109/32.317428 – ident: e_1_2_9_19_1 – ident: e_1_2_9_13_1 – ident: e_1_2_9_10_1 doi: 10.1007/978-1-4020-9436-1 – volume: 58 start-page: 118 year: 2003 ident: e_1_2_9_6_1 article-title: Bounded model checking publication-title: Advances in Computers – ident: e_1_2_9_4_1 doi: 10.1023/A:1011254632723 |
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For highly safety‐critical applications, rigorous offline verification should be complemented by online verification. One promising technique is Online... For highly safety‐critical applications, rigorous offline verification should be complemented by online verification. One promising technique is Online Model... For highly safety-critical applications, rigorous offline verification should be complemented by online verification. One promising technique is Online Model... |
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| SubjectTerms | Architecture (computers) Feasibility studies online model checking Operating systems ORCOS QEMU and PowerPC Real time real-time operating system Running State of the art Tasks Traffic flow |
| Title | Efficient integration of online model checking into a small-footprint real-time operating system |
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