Related papers: Software Fault Tolerance for Cyber-Physical System…
Handling faults is a growing concern in HPC. In future exascale systems, it is projected that silent undetected errors will occur several times a day, increasing the occurrence of corrupted results. In this article, we propose SEDAR, which…
When a system's constraints change abruptly, the system's reachability safety does no longer sustain. Thus, the system can reach a forbidden/dangerous value. Conventional remedy practically involves online controller redesign (OCR) to…
Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…
Reliability and fault tolerance are critical attributes of embedded cyber-physical systems that require a high safety-integrity level. For such systems, the use of formal functional safety specifications has been strongly advocated in most…
Learning reliably safe autonomous control is one of the core problems in trustworthy autonomy. However, training a controller that can be formally verified to be safe remains a major challenge. We introduce a novel approach for learning…
Current cyber-physical systems (CPS) are expected to accomplish complex tasks. To achieve this goal, high performance, but unverified controllers (e.g. deep neural network, black-box controllers from third parties) are applied, which makes…
The design of robust controllers for triple inverted pendulum systems presents significant challenges due to their inherent instability and nonlinear dynamics. Furthermore, uncertainties in system parameters further complicate the control…
Timing guarantees are crucial to cyber-physical applications that must bound the end-to-end delay between sensing, processing and actuation. For example, in a flight controller for a multirotor drone, the data from a gyro or inertial sensor…
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
We propose a symbolic execution method for analyzing the safety of software under fault attacks both accurately and efficiently. Fault attacks leverage physically injected hardware faults in an embedded system to break the safety of a…
We consider the problem of controller design for linear time-invariant cyber-physical systems (CPSs) controlled via networks. Specifically, we adopt the set-up that a controller has already been designed to stabilize the plant. However, the…
With the increasing number of compute components, failures in future exa-scale computer systems are expected to become more frequent. This motivates the study of novel resilience techniques. Here, we extend a recently proposed…
Due to the diversity and implicit redundancy in terms of processing units and compute kernels, off-the-shelf heterogeneous systems offer the opportunity to detect and tolerate faults during task execution in hardware as well as in software.…
A secure two-party computation protocol for running dynamic controllers over secret sharing has recently been proposed. Unlike encrypted control schemes based on homomorphic encryption, this protocol enables operating dynamic controllers…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…
Miniaturized satellites are currently not considered suitable for critical, high-priority, and complex multi-phased missions, due to their low reliability. As hardware-side fault tolerance (FT) solutions designed for larger spacecraft can…