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Bounded Invariance Checking of Simulink Models
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0002-4987-7669
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0003-2870-2680
2019 (English)In: Proceedings of the ACM Symposium on Applied Computing, 2019, Vol. Part F147772, p. 2168-2177Conference paper, Published paper (Refereed)
Abstract [en]

Currently, Simulink models can be verified rigorously against design errors or statistical properties. In this paper, we show how Simulink models can be formally analyzed against invariance properties using bounded model checking reduced to satisfiability modulo theories solving. In its basic form, the technique provides means for verification of an underlying model over bounded traces rigorously, however, in general the procedure is incomplete. We identify common Simulink block types and compositions by analyzing selected industrial models, and we show that for some of them the set of non-repeating states (reachability diameter) can be visited with a finite set of paths of finite length, yielding the verification complete. We complement our approach with a tool, called SyMC that automates the following: i) calculation of the reachability diameter size for some of the designs, ii) generation of finite (bounded) paths of the underlying Simulink model and their encoding into SMT-LIB format and iii) checking invariance properties using the Z3 SMT solver. To show the applicability of our approach, we apply it on a prototype implementation of an industrial Simulink model, namely Brake by Wire from Volvo Group Trucks Technology, Sweden. 

Place, publisher, year, edition, pages
2019. Vol. Part F147772, p. 2168-2177
National Category
Computer Systems
Identifiers
URN: urn:nbn:se:mdh:diva-42803DOI: 10.1145/3297280.3297493ISI: 000474685800302Scopus ID: 2-s2.0-85065663281OAI: oai:DiVA.org:mdh-42803DiVA, id: diva2:1292165
Conference
SAC2019: The 34th ACM/SIGAPP Symposium On Applied Computing, Limassol, Cyprus, April 8-12, 2019
Available from: 2019-02-27 Created: 2019-02-27 Last updated: 2019-10-11Bibliographically approved
In thesis
1. Automated Approaches for Formal Verification of Embedded Systems Artifacts
Open this publication in new window or tab >>Automated Approaches for Formal Verification of Embedded Systems Artifacts
2019 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Modern embedded software is so large and complex that creating the necessary artifacts, including system requirements specifications and design-time models, as well as assuring their correctness have become difficult to manage. One challenge stems from the high number and intricacy of system requirements that combine functional and possibly timing or other types of constraints, which make them hard to analyze. Another challenge is the quality assurance of various design-time models developed using Simulink as the de facto standard model-based development tool in the automotive domain, avionics domain, etc. Currently, the industrial state-of-practice resorts to simulation of Simulink models, which gives insight in the system’s behavior yet does not provide a high degree of assurance that the model behaves correctly. A potential way to address the aforementioned challenges is to apply computer-aided, mathematically-rigorous methods for specification, analysis and verification already at the requirements specification stage, but also at later development stages.

In this thesis, we propose a set of approaches for the formal specification, analysis and verification of system requirement specifications and design-time Simulink models, with particular focus on the automotive industry. Our contributions are as follows: first, we assess the expressiveness of an existing patternbased technique for the formal requirements specification on an operational system. Based on the positive findings, we deem the technique expressive enough to capture systems requirements in controlled natural language, from which formal counterparts can be automatically generated. To bring the approach closer to the practitioners we propose a tool, called PROPAS. Next, we propose an automated consistency analysis approach based on Satisfiability Modulo Theories for the system requirements specifications formally encoded as temporal logic formulas. The approach is implemented in our PROPAS tool and is suitable to analyze the lack of logical contradictions within the system specification, at early system development phases. Our next contribution addresses the formal analysis and verification of large Simulink models. First, we propose a pattern-based and execution-order-preserving approach for transforming Simulink models into networks of stochastic timed automata, which can be analyzed using the UPPAAL SMC tool that returns the probability that a property is satisfied by the model. For the automated generation of the analysis model, we propose the SIMPPAAL tool. Our second approach is based on bounded model checking and is suitable for checking invariance properties of Simulink models. Compared to the statistical model checking approach, the invariance checking is reduced to a satisfiability problem. In case of property violation, the procedure generates a counter-example execution trace, which can be used for refining the model. In the same work we show that there exist commonly-used design patterns in Simulink models, for which the verification result is complete. The approach is supported by our SYMC tool.

For validation of the specification patterns, and the PROPAS tool we perform a case-study evaluation with practitioners, in collaboration with our industrial partner Scania. The results show that the pattern-based approach and the PROPAS tool can be practically useful in industrial settings. We apply the statistical model-checking approach and the SIMPPAAL tool on two industrial use cases, namely Brake-by-Wire and Adjustable Speed Limiter from Volvo Group Trucks Technology, which yields encouraging results. Finally, we validate the bounded invariance-checking approach and the SYMC tool on the Brake-by-Wire system, where we demonstrate both complete and incomplete verification of invariance properties.

Place, publisher, year, edition, pages
Västerås: Mälardalen University, 2019
Series
Mälardalen University Press Dissertations, ISSN 1651-4238 ; 292
Keywords
embedded systems, Simulink, systems specifications, model-checking, formal verification
National Category
Computer Systems
Research subject
Computer Science
Identifiers
urn:nbn:se:mdh:diva-43408 (URN)978-91-7485-429-9 (ISBN)
Public defence
2019-06-17, Gamma, Mälardalens högskola, Västerås, 13:30 (English)
Opponent
Supervisors
Projects
VeriSpec
Available from: 2019-05-09 Created: 2019-05-09 Last updated: 2019-05-15Bibliographically approved

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Filipovikj, PredragRodriguez-Navas, GuillermoSeceleanu, Cristina

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