SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems

The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques. This trend makes it challenging to provide strong design-time certification of correct operation. To address these challenges, we present SOTER, a robotics programming framework with two key components: (1) a programming language for implementing and testing high-level reactive robotics software and (2) an integrated runtime assurance (RTA) system that helps enable the use of uncertified components, while still providing safety guarantees. SOTER provides language primitives to declaratively construct a RTA module consisting of an advanced, high-performance controller (uncertified), a safe, lower-performance controller (certified), and the desired safety specification. The framework provides a formal guarantee that a well-formed RTA module always satisfies the safety specification, without completely sacrificing performance by using higher performance uncertified components whenever safe. SOTER allows the complex robotics software stack to be constructed as a composition of RTA modules, where each uncertified component is protected using a RTA module. To demonstrate the efficacy of our framework, we consider a real-world case-study of building a safe drone surveillance system. Our experiments both in simulation and on actual drones show that the SOTER-enabled RTA ensures the safety of the system, including when untrusted third-party components have bugs or deviate from the desired behavior

Taming Uncertainty in the Assurance Process of Self-Adaptive Systems: a Goal-Oriented Approach

Goals are first-class entities in a self-adaptive system (SAS) as they guide the self-adaptation. A SAS often operates in dynamic and partially unknown environments, which cause uncertainty that the SAS has to address to achieve its goals. Moreover, besides the environment, other classes of uncertainty have been identified. However, these various classes and their sources are not systematically addressed by current approaches throughout the life cycle of the SAS. In general, uncertainty typically makes the assurance provision of SAS goals exclusively at design time not viable. This calls for an assurance process that spans the whole life cycle of the SAS. In this work, we propose a goal-oriented assurance process that supports taming different sources (within different classes) of uncertainty from defining the goals at design time to performing self-adaptation at runtime. Based on a goal model augmented with uncertainty annotations, we automatically generate parametric symbolic formulae with parameterized uncertainties at design time using symbolic model checking. These formulae and the goal model guide the synthesis of adaptation policies by engineers. At runtime, the generated formulae are evaluated to resolve the uncertainty and to steer the self-adaptation using the policies. In this paper, we focus on reliability and cost properties, for which we evaluate our approach on the Body Sensor Network (BSN) implemented in OpenDaVINCI. The results of the validation are promising and show that our approach is able to systematically tame multiple classes of uncertainty, and that it is effective and efficient in providing assurances for the goals of self-adaptive systems

Towards the Safety of Human-in-the-Loop Robotics: Challenges and Opportunities for Safety Assurance of Robotic Co-Workers

The success of the human-robot co-worker team in a flexible manufacturing environment where robots learn from demonstration heavily relies on the correct and safe operation of the robot. How this can be achieved is a challenge that requires addressing both technical as well as human-centric research questions. In this paper we discuss the state of the art in safety assurance, existing as well as emerging standards in this area, and the need for new approaches to safety assurance in the context of learning machines. We then focus on robotic learning from demonstration, the challenges these techniques pose to safety assurance and indicate opportunities to integrate safety considerations into algorithms "by design". Finally, from a human-centric perspective, we stipulate that, to achieve high levels of safety and ultimately trust, the robotic co-worker must meet the innate expectations of the humans it works with. It is our aim to stimulate a discussion focused on the safety aspects of human-in-the-loop robotics, and to foster multidisciplinary collaboration to address the research challenges identified

TCG based approach for secure management of virtualized platforms: state-of-the-art

There is a strong trend shift in the favor of adopting virtualization to get business benefits. The provisioning of virtualized enterprise resources is one kind of many possible scenarios. Where virtualization promises clear advantages it also poses new security challenges which need to be addressed to gain stakeholders confidence in the dynamics of new environment. One important facet of these challenges is establishing 'Trust' which is a basic primitive for any viable business model. The Trusted computing group (TCG) offers technologies and mechanisms required to establish this trust in the target platforms. Moreover, TCG technologies enable protecting of sensitive data in rest and transit. This report explores the applicability of relevant TCG concepts to virtualize enterprise resources securely for provisioning, establish trust in the target platforms and securely manage these virtualized Trusted Platforms