Fault Injection in Co-simulation and Digital Twins for Cyber-Physical Robotic Systems

Larsen, PG; Esterle, L; Fitzgerald, J; Frasheri, M

doi:10.1007/978-3-031-40132-9_14

Fault Injection in Co-simulation and Digital Twins for Cyber-Physical Robotic Systems

Lookup NU author(s): Dr Peter Larsen, Professor John Fitzgerald

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This is the authors' accepted manuscript of a book chapter that has been published in its final definitive form by Springer, 2023.

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Abstract

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.