TY - CHAP
T1 - Fault Injection in Co-simulation and Digital Twins for Cyber-Physical Robotic Systems
AU - Larsen, Peter Gorm
AU - Esterle, Lukas
AU - Fitzgerald, John
AU - Frasheri, Mirgita
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2023
Y1 - 2023
N2 - The model-based engineering of dependable robotic systems brings challenges that include the need to work effectively with a range of models, owners and operators, and addressing the extent to which the systems evolve over time. This paper explores the linking of co-simulation, which allows for the exploration of models composed of multiple diverse simulation units, with the concept of a digital twin, which provides a framework for coupling virtual models with the real, evolving systems that they are intended to represent. We describe a systematic and generic approach to fault injection in multi-formalism models that use the Functional Mockup Interface standard, alongside the embedding of such multi-models in digital twins. We illustrate the potential and challenges of such an approach using a small “desktop” version of a commercial semi-autonomous agricultural robot. Inspired by the work of Jan Peleska on test automation, we identify directions for future research and innovation in this setting.
AB - The model-based engineering of dependable robotic systems brings challenges that include the need to work effectively with a range of models, owners and operators, and addressing the extent to which the systems evolve over time. This paper explores the linking of co-simulation, which allows for the exploration of models composed of multiple diverse simulation units, with the concept of a digital twin, which provides a framework for coupling virtual models with the real, evolving systems that they are intended to represent. We describe a systematic and generic approach to fault injection in multi-formalism models that use the Functional Mockup Interface standard, alongside the embedding of such multi-models in digital twins. We illustrate the potential and challenges of such an approach using a small “desktop” version of a commercial semi-autonomous agricultural robot. Inspired by the work of Jan Peleska on test automation, we identify directions for future research and innovation in this setting.
UR - http://www.scopus.com/inward/record.url?scp=85168996596&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-40132-9_14
DO - 10.1007/978-3-031-40132-9_14
M3 - Book chapter
AN - SCOPUS:85168996596
T3 - Lecture Notes in Computer Science
SP - 222
EP - 236
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PB - Springer Science and Business Media Deutschland GmbH
ER -