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In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…
Detect-And-Avoid (DAA) algorithms for unmanned air vehicles have industry standards called Minimum Operational Performance Standards (MOPS), establishing criteria to check whether they can ensure safe separation for all plausible…
Data-flow testing (DFT) aims to detect potential data interaction anomalies by focusing on the points at which variables receive values and the points at which these values are used. Such test objectives are referred as \emph{def-use…
The current verification flow of complex systems uses different engines synergistically: virtual prototyping, formal verification, simulation, emulation and FPGA prototyping. However, none is able to verify a complete architecture.…
Formal Methods are mathematically-based techniques for software design and engineering, which enable the unambiguous description of and reasoning about a system's behaviour. Autonomous systems use software to make decisions without human…
Cyber-physical systems, such as learning robots and other autonomous systems, employ high-integrity software in their safety-critical control. This software is developed using a range of tools some of which need to be qualified for this…
Reasoning about safety, security, and other dependability attributes of autonomous systems is a challenge that needs to be addressed before the adoption of such systems in day-to-day life. Formal methods is a class of methods that…
As Machine Learning (ML) makes its way into aviation, ML enabled systems including low criticality systems require a reliable certification process to ensure safety and performance. Traditional standards, like DO 178C, which are used for…
Can we see it all? Do we know it All? These are questions thrown to human beings in our contemporary society to evaluate our tendency to solve problems. Recent studies have explored several models in object detection; however, most have…
We present a dataset of several fault types in control surfaces of a fixed-wing Unmanned Aerial Vehicle (UAV) for use in Fault Detection and Isolation (FDI) and Anomaly Detection (AD) research. Currently, the dataset includes processed data…
Static analysis is an essential component of many modern software development tools. Unfortunately, the ever-increasing complexity of static analyzers makes their coding error-prone. Even analysis tools based on rigorous mathematical…
Critical software systems face stringent requirements in safety, security, and reliability due to the circumstances surrounding their operation. Safety and security have progressively gained importance over the years due to the integration…
Flutter flight test involves the evaluation of the airframes aeroelastic stability by applying artificial excitation on the aircraft lifting surfaces. The subsequent responses are captured and analyzed to extract the frequencies and damping…
With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…
Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…
A self-healing software system is an advanced computer program or system designed to detect, diagnose, and automatically recover from faults or errors without human intervention. These systems are typically employed in mission-critical…
A fail-operational system for highly automated driving must complete the driving task even in the presence of a failure. This requires redundant architectures and a mechanism to reconfigure the system in case of a failure. Therefore, an…
An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…
Assertion checking is an invaluable programmer's tool for finding many classes of errors or verifying their absence in dynamic languages such as Prolog. For Prolog programmers this means being able to have relevant properties such as modes,…
In learning-enabled autonomous systems, safety monitoring of learned components is crucial to ensure their outputs do not lead to system safety violations, given the operational context of the system. However, developing a safety monitor…