Guaranteeing Proper-Temporal-Embedding Safety Rules in Wireless CPS: A Hybrid Formal Modeling Approach
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1 Guaranteeing Proper-Temporal-Embedding Safety Rules in Wireless CPS: A Hybrid Formal Modeling Approach Feng Tan *, Yufei Wang *, Qixin Wang *, Lei Bu, Rong Zheng, Neeraj Suri ** * Embedded Systems & Networking Lab, Dept. of Computing, The Hong Kong Polytechnic Univ. State Key Lab for Novel Software Tech., Dept. of Computer Sci. & Tech., Nanjing Univ., China Dept. of Computing and Software, McMaster Univ., Canada ** Dept. of Computer Science, TU Darmstadt, Germany June 26, 2013
2 Overview Related Work Demand Problem Evaluation Solution Background
3 Cyber-Physical Systems (CPS) are typically distributed and life/mission critical. Life/Mission critical CPS demand wireless Conflict Wireless is unreliable
4 Cyber-Physical Systems (CPS) are typically distributed and life/mission critical. Life/Mission critical CPS demand wireless Conflict PTE Safety Guarantee Wireless is unreliable
5 Cyber-Physical Systems (CPS) are typically distributed and life/mission critical. Life/Mission critical CPS demand wireless Conflict Design Pattern Hybrid Modeling PTE Safety Guarantee Wireless is unreliable
6 Cyber Physical Systems (CPS): systems involving tight/complex coupling of computer and physical subsystems Avionics Manufacturing Medical
7 CPS Features Typically distributed and life/mission-critical Real-time (in addition to logical time) matters Modeling must integrate both discrete and continuous aspects
8 Distributed life/mission critical CPS demand wireless communications.
9 Distributed life/mission critical CPS demand wireless communications.
10 Distributed life/mission critical CPS demand wireless communications.
11 Distributed life/mission critical CPS demand wireless communications. Wireless is unreliable
12 How to guarantee the safety of life/mission critical wireless CPS? Life/Mission critical CPS demand wireless Conflict Wireless is unreliable
13 How to guarantee the Proper-Temporal-Embedding (PTE) safety rule of life/mission critical wireless CPS? Life/Mission critical CPS demand wireless Conflict PTE Safety Guarantee Wireless is unreliable
14 What is Proper-Temporal-Embedding (PTE) safety rule?
15 CPS Feature 2: real-time (in addition to logical time) matters!
16 CPS Feature 2: real-time (in addition to logical time) matters! risky state dwelling time upper bound
17 CPS Feature 2: real-time (in addition to logical time) matters! enter-risky safeguard interval
18 CPS Feature 2: real-time (in addition to logical time) matters! exit-risky safeguard interval
19 How to guarantee PTE safety despite of arbitrary wireless link failures?
20 How to guarantee PTE safety despite of arbitrary wireless link failures? Leasing Design Pattern: risky state dwelling time must be leased.
21 General concepts of Leasing design pattern: each CPS entity takes one of the 3 roles. 3. approve 2. lease 2. lease Supervisor 1. request Initiator Participant Participant
22 CPS Features: 1. real-time matters; 2. real-time PTE even when aborting/canceling. (+ 3. arbitrary comm. failures) active Initiator fallback active Participant fallback active Participant fallback
23 How to formally describe, analyze, and use Leasing design pattern in the context of CPS?
24 How to formally describe, analyze, and use Leasing design pattern in the context of CPS? CPS Feature 3 implies the use of hybrid automata modeling
25 Hybrid Automaton is a state-of-the-art modeling tool for CPS. Bouncing Ball Example
26 Leasing Design Pattern for PTE Safety Rules: detailed Supervisor's hybrid automaton
27 Leasing Design Pattern for PTE Safety Rules: detailed Initiator's hybrid automaton
28 Leasing Design Pattern for PTE Safety Rules: detailed Participant's hybrid automaton
29 Leasing Design Pattern for PTE Safety Rules: detailed Participant's hybrid automaton
30 Leasing Design Pattern for PTE Safety Rules: detailed Participant's hybrid automaton
31 Validity of the design pattern Theorem 1: If the temporal parameters of the design pattern hybrid automata satisfy a certain set of linear inequalities, then PTE safety is guaranteed despite of arbitrary communications link failures.
32 Validity of the design pattern
33 Using the design pattern: how to turn design pattern into detailed CPS designs?
34 We proposed a formal procedure to elaborate a design pattern hybrid automaton into a detailed design hybrid automaton. Elaborate
35 Validity of elaboration Theorem 2: If detailed design hybrid automata are respectively derived by elaborating corresponding design pattern hybrid automata, then PTE safety is guaranteed despite of arbitrary communications link failures.
36 Laser Tracheotomy Medical CPS: interconnect/interlock smart medical devices to increase safety Laser Tracheotomy without Device Interlock
37 Laser Tracheotomy Medical CPS: interconnect/interlock smart medical devices to increase safety Laser Tracheotomy CPS
38 Demand to use wireless links for safety and efficiency concerns. Laser Tracheotomy CPS wireless links
39 Demand to use wireless links for safety and efficiency concerns.
40 Demand to use wireless links for safety and efficiency concerns. Laser Tracheotomy CPS wireless links
41 Laser Tracheotomy CPS PTE safety rule. 3sec 60sec 1.5sec
42 System architecture and roles of the design pattern: Initiator, Supervisor, Participant
43 System architecture and roles of the design pattern: Initiator, Supervisor, Participant
44 System architecture and roles of the design pattern: Initiator, Supervisor, Participant
45 System architecture and roles of the design pattern: Initiator, Supervisor, Participant
46 Following the Leasing design pattern and Elaboration procedure, we derive detailed designs
47 Emulation Scheme
48 Emulation Results
49 Related Work Leasing Protocol [7,8,9,10,11,12][24] check-point & roll-back logical time vs. real-time PTE uncontrollable physical world parameters
50 Related Work Use of formal modeling in design pattern [30~33]. Hybrid modeling mostly used for verification [3],[13~16]. Tichakorn [34] proposes use a subclass of hybrid automata for designing periodical hybrid control systems.
51 Conclusion 1. Proposed a Lease based design pattern to guarantee PTE safety rules in wireless CPS, under arbitrary communication link failures. 2. Derived the corresponding closed-form linear constraints for temporal configuration parameters. 3. Formal description of design pattern with hybrid modeling. 4. Proposed a formal methodology to elaborate design pattern hybrid automata to detailed design hybrid automata, while maintaining PTE safety properties.
52 Thank you! Life/Mission critical CPS demand wireless Conflict Design Pattern Hybrid Modeling PTE Safety Guarantee Wireless is unreliable
53 Cyber Physical Systems (CPS): systems involving tight/complex coupling of computer and physical subsystems Surgical Medicine Anesthesiology Nursing Computer Communications Mechanics Control
54 Cyber Physical Systems (CPS): systems involving tight/complex coupling of computer and physical subsystems Chemical Engineering Control Mechanics Computer Thermal Engineering Communications
55 Cyber Physical Systems (CPS): systems involving tight/complex coupling of computer and physical subsystems Computer Mechanics Aerodynamics Communications Control Material
56 Demand to use wireless links for safety and efficiency concerns. The Operation Room Spider Web
57 Demand to use wireless links for safety and efficiency concerns. The Operation Room Spider Web, after medical CPS safety interlocks
58 Demand to use wireless links for safety and efficiency concerns. Spider Web OR vs. Wireless OR
59 How to guarantee PTE safety despite of arbitrary wireless link failures? Leasing Design Pattern Hybrid Automata Modeling: formally describe, analyze, and use the design pattern
60 General concept of Leasing Design Pattern for CPS PTE guarantee Supervisor Initiator Participant Participant
61 General concept of Leasing Design Pattern for CPS PTE guarantee Fallback Supervisor Fallback Fallback Participant Fallback Participant Initiator
62 General concept of Leasing Design Pattern for CPS PTE guarantee Fallback Supervisor Request Fallback Participant Fallback Participant Initiator
63 General concept of Leasing Design Pattern for CPS PTE guarantee Supervisor Lease Request Fallback Participant Fallback Participant Initiator
64 General concept of Leasing Design Pattern for CPS PTE guarantee Supervisor Lease Request Fallback Initiator Participant Participant
65 General concept of Leasing Design Pattern for CPS PTE guarantee Lease Lease Supervisor Request Fallback Initiator Participant Participant
66 General concept of Leasing Design Pattern for CPS PTE guarantee Lease Lease Supervisor Request Initiator Participant Participant
67 General concept of Leasing Design Pattern for CPS PTE guarantee Lease Lease Supervisor Approve Request Initiator Participant Participant
68 General concept of Leasing Design Pattern for CPS PTE guarantee active Initiator fallback active Participant fallback active Participant fallback
69 The same scenario can also apply to purely cyber systems. What's the difference that CPS makes? active Initiator fallback active Participant fallback active Participant fallback
70 CPS Features: 1. real-time matters; 2. real-time PTE even when aborting/canceling. (+ 3. arbitrary comm. failures) active Initiator fallback active Participant fallback active Participant fallback
71 Leasing Design Pattern for PTE Safety Rules: sketch of Supervisor's hybrid automaton
72 Leasing Design Pattern for PTE Safety Rules: sketch of Initiator's hybrid automaton
73 Leasing Design Pattern for PTE Safety Rules: sketch of Participant's hybrid automaton
74 Emulation Scheme ) 1.5( ), 3( PTE safeguard intervals: ) 6( ), 35( ), 3( Ventilator : ) 1.5( ), 20( ), 10( ), 5( : Initiator ) 3( ), 13( : Supervisor min 1 :2 min 2 :1,1 max,1 max,1,2 max,2 max,2 max,2 max min,0 s T s T s T s T s T s T s T s T s T s T s T safe risky exit run enter exit run enter req wait fb
75 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Laser Scalpel Patient
76 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Laser Scalpel Patient
77 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Laser Scalpel Patient
78 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
79 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
80 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Shooting Patient
81 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
82 Example Scenario Supervisor lost Surgeon SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
83 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
84 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Laser Scalpel Patient
85 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Laser Scalpel Patient
86 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Laser Scalpel Patient
87 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
88 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
89 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Shooting Patient
90 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
91 Example Scenario Supervisor lost Surgeon SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
92 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
93 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Pausing Laser Scalpel Patient
94 Example Scenario Surgeon Supervisor SpO 2 Sensor Ventilator Laser Scalpel Patient
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