An Algebraic Framework for the Real-Time Solution of Inverse Problems on Embedded Systems

This article presents a new approach to the real-time solution of inverse problems on embedded systems. The class of problems addressed corresponds to ordinary differential equations (ODEs) with generalized linear constraints, whereby the data from an array of sensors forms the forcing function. The solution of the equation is formulated as a least squares (LS) problem with linear constraints. The LS approach makes the method suitable for the explicit solution of inverse problems where the forcing function is perturbed by noise. The algebraic computation is partitioned into a initial preparatory step, which precomputes the matrices required for the run-time computation; and the cyclic run-time computation, which is repeated with each acquisition of sensor data. The cyclic computation consists of a single matrix-vector multiplication, in this manner computation complexity is known a-priori, fulfilling the definition of a real-time computation. Numerical testing of the new method is presented on perturbed as well as unperturbed problems; the results are compared with known analytic solutions and solutions acquired from state-of-the-art implicit solvers. The solution is implemented with model based design and uses only fundamental linear algebra; consequently, this approach supports automatic code generation for deployment on embedded systems. The targeting concept was tested via software- and processor-in-the-loop verification on two systems with different processor architectures. Finally, the method was tested on a laboratory prototype with real measurement data for the monitoring of flexible structures. The problem solved is: the real-time overconstrained reconstruction of a curve from measured gradients. Such systems are commonly encountered in the monitoring of structures and/or ground subsidence.Comment: 24 pages, journal articl

MADES: A SysML/MARTE high level methodology for real-time and embedded systems

International audienceRapid evolution of real-time and embedded systems (RTES) is continuing at an increasing rate, and new method-ologies and design tools are needed to reduce design complexity while decreasing development costs and integrating aspects such as verification and validation. Model-Driven Engineering offers an interesting solution to the above mentioned challenges and is being widely used in various industrial and academic research projects. This paper presents the EU funded MADES project which aims to develop novel model-driven techniques to improve existing practices in development of RTES for avionics and surveillance embedded systems industries. MADES proposes a subset of existing UML profiles for embedded systems modeling: namely MARTE and SysML, and is developing new tools and technologies that support design, validation, simulation and eventual automatic code generation, while integrating aspects such as component re-use. In this paper, we first introduce the MADES language, which enables rapid system design and specification that can be then taken by underlying MADES tools for goals such as simulation or code generation. Finally, we illustrate the various concepts present in the MADES language by means of a car collision avoidance system case study

Optimisation-based verification process of obstacle avoidance systems for unmanned vehicles

This thesis deals with safety verification analysis of collision avoidance systems for unmanned vehicles. The safety of the vehicle is dependent on collision avoidance algorithms and associated control laws, and it must be proven that the collision avoidance algorithms and controllers are functioning correctly in all nominal conditions, various failure conditions and in the presence of possible variations in the vehicle and operational environment. The current widely used exhaustive search based approaches are not suitable for safety analysis of autonomous vehicles due to the large number of possible variations and the complexity of algorithms and the systems. To address this topic, a new optimisation-based verification method is developed to verify the safety of collision avoidance systems. The proposed verification method formulates the worst case analysis problem arising the verification of collision avoidance systems into an optimisation problem and employs optimisation algorithms to automatically search the worst cases. Minimum distance to the obstacle during the collision avoidance manoeuvre is defined as the objective function of the optimisation problem, and realistic simulation consisting of the detailed vehicle dynamics, the operational environment, the collision avoidance algorithm and low level control laws is embedded in the optimisation process. This enables the verification process to take into account the parameters variations in the vehicle, the change of the environment, the uncertainties in sensors, and in particular the mismatching between model used for developing the collision avoidance algorithms and the real vehicle. It is shown that the resultant simulation based optimisation problem is non-convex and there might be many local optima. To illustrate and investigate the proposed optimisation based verification process, the potential field method and decision making collision avoidance method are chosen as an obstacle avoidance candidate technique for verification study. Five benchmark case studies are investigated in this thesis: static obstacle avoidance system of a simple unicycle robot, moving obstacle avoidance system for a Pioneer 3DX robot, and a 6 Degrees of Freedom fixed wing Unmanned Aerial Vehicle with static and moving collision avoidance algorithms. It is proven that although a local optimisation method for nonlinear optimisation is quite efficient, it is not able to find the most dangerous situation. Results in this thesis show that, among all the global optimisation methods that have been investigated, the DIviding RECTangle method provides most promising performance for verification of collision avoidance functions in terms of guaranteed capability in searching worst scenarios

On the Automated Verification of Web Applications with Embedded SQL

A large number of web applications is based on a relational database together with a program, typically a script, that enables the user to interact with the database through embedded SQL queries and commands. In this paper, we introduce a method for formal automated verification of such systems which connects database theory to mainstream program analysis. We identify a fragment of SQL which captures the behavior of the queries in our case studies, is algorithmically decidable, and facilitates the construction of weakest preconditions. Thus, we can integrate the analysis of SQL queries into a program analysis tool chain. To this end, we implement a new decision procedure for the SQL fragment that we introduce. We demonstrate practical applicability of our results with three case studies, a web administrator, a simple firewall, and a conference management system

An Adaptive Design Methodology for Reduction of Product Development Risk

Embedded systems interaction with environment inherently complicates understanding of requirements and their correct implementation. However, product uncertainty is highest during early stages of development. Design verification is an essential step in the development of any system, especially for Embedded System. This paper introduces a novel adaptive design methodology, which incorporates step-wise prototyping and verification. With each adaptive step product-realization level is enhanced while decreasing the level of product uncertainty, thereby reducing the overall costs. The back-bone of this frame-work is the development of Domain Specific Operational (DOP) Model and the associated Verification Instrumentation for Test and Evaluation, developed based on the DOP model. Together they generate functionally valid test-sequence for carrying out prototype evaluation. With the help of a case study 'Multimode Detection Subsystem' the application of this method is sketched. The design methodologies can be compared by defining and computing a generic performance criterion like Average design-cycle Risk. For the case study, by computing Average design-cycle Risk, it is shown that the adaptive method reduces the product development risk for a small increase in the total design cycle time.Comment: 21 pages, 9 figure

The Construction of Verification Models for Embedded Systems

The usefulness of verification hinges on the quality of the verification model. Verification is useful if it increases our confidence that an artefact bahaves as expected. As modelling inherently contains non-formal elements, the qualityof models cannot be captured by purely formal means. Still, we argue that modelling is not an act of irrationalism and unpredictable geniality, but follows rational arguments, that often remain implicit. In this paper we try to identify the tacit rationalism in the model construction as performed by most people doing modelling for verification. By explicating the different phases, arguments, and design decisions in the model construction, we try to develop guidelines that help to improve the process of model construction and the quality of models

Privacy-Preserving Facial Recognition Using Biometric-Capsules

Indiana University-Purdue University Indianapolis (IUPUI)In recent years, developers have used the proliferation of biometric sensors in smart devices, along with recent advances in deep learning, to implement an array of biometrics-based recognition systems. Though these systems demonstrate remarkable performance and have seen wide acceptance, they present unique and pressing security and privacy concerns. One proposed method which addresses these concerns is the elegant, fusion-based Biometric-Capsule (BC) scheme. The BC scheme is provably secure, privacy-preserving, cancellable and interoperable in its secure feature fusion design. In this work, we demonstrate that the BC scheme is uniquely fit to secure state-of-the-art facial verification, authentication and identification systems. We compare the performance of unsecured, underlying biometrics systems to the performance of the BC-embedded systems in order to directly demonstrate the minimal effects of the privacy-preserving BC scheme on underlying system performance. Notably, we demonstrate that, when seamlessly embedded into a state-of-the-art FaceNet and ArcFace verification systems which achieve accuracies of 97.18% and 99.75% on the benchmark LFW dataset, the BC-embedded systems are able to achieve accuracies of 95.13% and 99.13% respectively. Furthermore, we also demonstrate that the BC scheme outperforms or performs as well as several other proposed secure biometric methods