Related papers: Software Fault Tolerance for Cyber-Physical System…
Embedded devices face an ever-expanding threat landscape: vulnerabilities in application software, operating system kernels, and peripherals threaten the embedded device integrity. Existing computer-architectural defenses fully consider at…
Safety for control systems is often posed as an invariance constraint; the system is said to be safe if state trajectories avoid some unsafe region of the statespace for all time. An assured controller is one that enforces safety online by…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
Safety is critical in robotic tasks. Energy function based methods have been introduced to address the problem. To ensure safety in the presence of control limits, we need to design an energy function that results in persistently feasible…
HyperSurfaces (HSFs) consist of structurally reconfigurable metasurfaces whose electromagnetic properties can be changed via a software interface, using an embedded miniaturized network of controllers. With the HSF controllers,…
Autonomous Cyber-Physical Systems (CPS) fuse proprioceptive sensors such as GPS and exteroceptive sensors including Light Detection and Ranging (LiDAR) and cameras for state estimation and environmental observation. It has been shown that…
Fault-tolerant distributed systems offer high reliability because even if faults in their components occur, they do not exhibit erroneous behavior. Depending on the fault model adopted, hardware and software errors that do not result in a…
Cyber-physical systems (CPS) are composed of various embedded subsystems and require specialized software, firmware, and hardware to coordinate with the rest of the system. These multiple levels of integration expose attack surfaces which…
We consider the problem of how to deploy a controller to a (networked) cyber-physical system (CPS). Controlling a CPS is an involved task, and synthesizing a controller to respect sensing, actuation, and communication constraints is only…
Reliability of complex Cyber-Physical Systems is necessary to guarantee availability and/or safety of the provided services. Diverse and complex fault tolerance policies are adopted to enhance reliability, that include a varied mix of…
This paper tackles the problem of making complex resource-constrained cyber-physical systems (CPS) resilient to sensor anomalies. In particular, we present a framework for checkpointing and roll-forward recovery of state-estimates in…
Formal reasoning on the safety of controller systems interacting with plants is complex because developers need to specify behavior while taking into account perceptual uncertainty. To address this, we propose an automated workflow that…
In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System) Based on H-infinity is presented. In particular, the introductory part of the paper presents a Fault-Tolerant Control (FTC), the first part of this paper presents a…
Many safety-critical real-time systems operate under harsh environment and are subject to soft errors caused by transient or intermittent faults. It is critical and yet often very challenging to apply fault tolerance techniques in these…
Environmental noise (e.g.heat, ionized particles, etc.) causes transient faults in hardware, which lead to corruption of stored values. Mission-critical devices require such faults to be mitigated by fault-tolerance --- a combination of…
Traditional control methods are inadequate in many deployment settings involving control of Cyber-Physical Systems (CPS). In such settings, CPS controllers must operate and respond to unpredictable interactions, conditions, or failure…
The idle computers on a local area, campus area, or even wide area network represent a significant computational resource---one that is, however, also unreliable, heterogeneous, and opportunistic. This type of resource has been used…
Complex, interconnected Cyber-physical Systems (CPS) are increasingly common in applications including smart grids and transportation. Ensuring safety of interconnected systems whose dynamics are coupled is challenging because the effects…
We consider the problem of securing a given control loop implementation of a cyber-physical system (CPS) in the presence of Man-in-the-Middle attacks on data exchange between plant and controller over a compromised network. To this end,…
Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…