Later this graph is corrected based on non intrusive monitoring of the system under nominal operation. A notforprofit organization, ieee is the worlds largest technical professional. It is embedded as part of a complete device often including hardware and mechanical parts. The exercises use the inspector suite to demonstrate how to test for fault injection. The grid as management backplane fault injection plug and play fault injector for dependability benchmarking non intrusive software implemented fault injection in embedded systems constraints on the use of boundaryscan for fault injection a strategy for. Software implemented fault injection for autosar based.
Softwareimplemented fault injection swifi is a wellknown technique to emulate design faults 2. Systems of this type must satisfy strict temporal constraints in order to guarantee certain safety properties. Fault injection has been proposed as a possible metric for all of the above properties of a system and its software. However, this practice presents two main drawbacks. On the use of formal specifications to analyze fault behaviors of distributed systems. Our work focuses on software implemented fault injection swfi techniques applied to support robustness testing on embedded distributed systems. Using aop in this context is not recommended, nor required, because the injected code directly affects the functionality of testbench without providing sufficient visibility to the user. A comparison of simulation based and scan chain implemented.
Pdf a fault injection attitude based on background debug. Evaluating xilinx seu controller macro for fault injection. Cisuc can software implemented faultinjection be used. New directions in modeling, design, and mitigation bilgiday yuce abstract this research investigates an important class of hardware attacks against embedded software, which uses fault injection as a hacking tool. We envision that the comprehensive knowledge of attacks and their. Nonintrusive softwareimplemented fault injection in embedded. We present a welldefined development methodology incorporating sfifault injection driven development fiddwhich begins by systematically. Besides, psttm ate includes a non intrusive fault injection mechanism that allows testing teams to inject faults in the models during simulation, in order to evaluate the effectiveness of the fault tolerance mechanisms implemented in them before assembling a system prototype. Simulationbased fault injection sfi represents a valuable solution for early analysis of software dependability and fault tolerance properties before the physical prototype of the target platform is available. What is a virtual vehicle embedded software development platform and how does non intrusive trace, controlled execution, and fault injection add advantages over using actual hardware. Software implemented fault injection is realized as well, which is a significant step to fault tolerance testing for safety critical system. A lightweight, costeffective, and non intrusive software tool has been developed that monitors and records the status of all registers associated with a designated peripheral under test, identifying the fault propagation caused by esd in the system, and visually presenting the resulting errors. Software implemented fault injection for safetycritical.
As fpgas are gaining importance in critical systems domains, fault injection tools targeting these devices are becoming crucial for system s verification and validation. A nonintrusive swifi technique for rtos robustness testing 1. Nonintrusive patient simulator for medical ventilator. An open and versatile fault injection framework for the assessment of software implemented hardware fault tolerance horst schirmeier y, martin hoffmann z, christian dietrich, michael lenzy, daniel lohmannz, and olaf spinczyk. Nonintrusive softwareimplemented fault injection in embedded systems. Fault injection in physical systems is important because it tests the actual implementation of fault handling mechanisms. However, you do not need inspector to gain the relevant knowledge through this course. A nonintrusive swifi technique for rtos robustness testing1. In general, fault injection in a virtual platform requires the behavior of the system model to be extended. Softwareimplemented fault injection is realized as well, which is a significant step to faulttolerance testing for safety critical system publisher. The second axis is that of invasive and noninvasive techniques. Using the onchip debugging capabilities available in most modern embedded systems it is possible to perform fault injection experiments in a non intrusive manner and observe the system behavior. This trend expands the threat model of embedded applications from.
Software implemented fault injection swifi techniques enable fault injection to be performed by software. Fault injection can be used to accelerate testing of a system in which the normal occurrence of faults is too sparse to permit proper testing. Rootcause analysis of these faults can potentially assist in identi. Critical embedded systems, like those used in avionics or automotive, have strong dependability requirements and most of them must face with fault tolerance. It consists of pc software that performs fault injection through the jtag interface controlled by gnu debugger gdb server for a chosen platform. Evaluating the fault tolerance capabilities of embedded. Inerte, a software implemented fault injection swifi tool that uses nexus for eliminating the temporal overhead of faultinjection in realtime systems, is discussed.
Having general knowledge about embedded systems is a plus. Nonintrusive softwareimplemented fault injection in embedded systems 25. By increasing complexity of cyberphysical systems, applying traditional fault injection s methods are not efficient anymore, so tester trying to use fault injection in the model level. Simulated fault injection for timetriggered safetycritical embedded systems abstract of the dissertation iban ayestaran 1 problem statement an embedded system is a system that uses processors and special hardware for dedicated control functions, and interacts with a reallife environment. Fault injection is a software testing technique by introducing faults into the code for improving the coverage and usually used with stress testing for robustness of the developed software. In this thesis, we present a study of fault tolerance by means of software in autosar based systems. Using virtual platforms for better autosar software. May 25, 2014 first of all, it provides more visibility and fault injection points than hardwarebased fault injection with contact. One of the methods typically used to validate fault tolerance mechanisms is fault injection. Componentbased fault tolerance for distributed realtime and embedded systems by friedhelm wolf. Abstract fault injection is used to characterize the failure to validate and compare the fault tolerant mechanisms. Software implemented fault injection swifi is a wellestablished technique for fault injection, but with a significant drawback for realtime systems.
It works in serverslave mode and hardware fault could be simulated and injected from the host side. The grid as management backplane fault injection plug and play fault injector for dependability benchmarking non intrusive software implemented fault injection in embedded systems constraints on the use of boundaryscan for fault injection a. We are currently developing a fault injector tool for the xilinx. Simulated fault injection for timetriggered safetycritical embedded systems. Transportation industry automotive emissions combustion engineering research fault location engineering research heated oxygen sensors motor vehicles maintenance and repair usage medical equipment physiological apparatus. It is of non intrusive implementation and all the realtime properties of the ventilator software system could be tested on target. The grid as management backplane fault injection plug and play fault injector for dependability benchmarking nonintrusive softwareimplemented fault injection in embedded systems constraints on the use of boundaryscan for fault injection a strategy for. Compiletime injections it is a fault injection technique where source code is modified to. A final exercise will assist you in building your own fault injection setup with inspector for your own target. Abstract fault tolerant system architectures for space applications are currently validated using system level testing. For an embedded system designer attempting to measure the degree to which. Some sfi approaches base the fault injection strategy on cycleaccurate models implemented by means of hardware description languages hdls. Hardware fault attack detection methods for secure embedded.
Fault injection for embedded systems riscure training academy. In the former, a model of the system is developed and faults are introduced into that model. Thirdly, unlike software based fault injection, this framework is completely non intrusive. Hochschulschriften simulated fault injection for time. Others claim for solutions in which, although the system clock is physically stopped. Non intrusive patient simulator for medical ventilator software verification zhuo yuzhen testing distributed realtime systems has been pervasively proven a challenging task within numerous industries. Noninvasive software verification using vista virtual platforms.
Safetycritical systems in air traffic management managed utility computing. Embedded systems control many devices in common use today. Pdf fault injection in embedded systems using gnu debugger. Fault injection in embedded systems using gnu debugger.
Ninetyeight percent of all microprocessors manufactured are used in embedded systems. They offer more visibility and fault injection points than hardwarebased fault injection, can model both permanent and soft errors, and, unlike software based fault injection, virtual prototype frameworks are completely non intrusive. For software, faults can be injected into simulations of software systems, such as. The aim of the study is to investigate how fault tolerance mechanisms can be implemented in autosar. An open and versatile faultinjection framework for. These studies showed that some fault injection techni. Simulated fault injection for timetriggered safety. As production automation systems have been and are becoming more and more complex, the task of quality assurance is increasingly challenging. To address this issue, the paper describes a software implemented fault injection approach based on the trace.
Implementation of fault injection by means of software tools can be performed both at. In this paper we propose a distributed software implemented fault injection framework based on the mobile agent approach. Although these features were originally introduced to easy code development and debugging, they are also well suited for implementing efficient and barely intrusive fault injection systems. They can be grouped into hardwarebased fault injection, softwarebased fault.
Fault injection can be used to show that a system does prevent certain faults from becoming hazards. Fault injection in virtualized systems challenges and. Some types of faults can be introduced by simply changing the state of the model register values, memory contents, etc. Psttm ate includes a non intrusive fault injection mechanism that allows testing teams to inject faults in the models during simulation, in order to evaluate the effectiveness of the fault tolerance mechanisms implemented in them before assembling a system. Fault injection techniques and tools for embedded systems. Several authors have proposed swifi techniques that rely on solutions requiring the clock of the system to be stopped during fault injection 3. Softwarebased analysis of the effects of electrostatic. The architecture of a fault injection system is outlined, and the use of bdm for resetting the system, downloading the application target program, executing the fault injection, and triggering a possible timeout condition is described. Review of modelbased testing approaches in production. While timebased fault injection can often easily be implemented nonintrusively, this. Intentional and accidental fault injection in virtual. Fault injection in virtualized systems challenges and applications michael le and yuval tamir, member, ieee abstractwe analyze the interaction between system virtualization and fault injection. Survey on fault tolerance and residual software fault of. Nonintrusive softwareimplemented fault injection in embedded systems conference paper in lecture notes in computer science 2847.
Secondly, it is much more controllable and precise than hardwarebased fault injection without contact to trigger softerrors. This paper is from a class at the multicore expo 2011. As main goal, the proposed approach represents a non intrusive technique. Direct access to the tested embedded system is realized by jtag. Moreover, the proposed method can be used in embedded systems without any hardware, software, or information redundancy. Report by sae international journal of passenger cars electronic and electrical systems. Fifa consists of two complementary fault injection techniques, one is based on the. This is viable for systems relying on hardware measures, but unsuitable for fault tolerance ft implemented in software. These tests are derived from system safety requirements for the detection and handling of value and time errors. Fault injection using crowbars on embedded systems colin oflynn abstractcausing a device to incorrectly execute an instruction or store faulty data is wellknown strategy for attacking cryptographic implementations on embedded systems. Using the onchip debugging capabilities available in most modern embedded systems it is possible to perform fault injection experiments in a nonintrusive manner and observe the system behavior. This is thus the vision of the rtos we adopt for rest of this paper. Hardware fault attack detection methods for secure embedded systems chinmay deshpande abstract in our daily life, we are increasingly putting our trust in embedded software applications, which run on a range of processorbased embedded systems from smartcards to paytv units. Software testing for safetycritical automotive systems.
The proposed method is evaluated using a software fault injection method and a full system prototype. Nonintrusive, deterministic faultinjection tests provide evidence for making reliable statements about the behavior of safetycritical, realtime systems in the presence of software faults and component failures. Fault injection using a realistic testsetup is considered good. To minimize this change, approaches should be as little intrusive as possible. May 24, 2018 in general, fault injection in a virtual platform requires the behavior of the system model to be extended. Non invasive software verification using vista virtual platforms by alex rozenman, vladimir pilko, and nilay mitash, mentor graphics code. A systematic and quantitative approach is using fault injection to guide the design and implementation of fault tolerance systems. Therefore, faultinjection is usually carried out by manually modifying the system to insert the desired fault injection mechanisms in it. Software implemented fault injection swifi is a wellknown technique to emulate design faults 2.
This multicore expo paper accompanies the class me862. Nonintrusive softwareimplemented fault injection in. Towards increasing nanosatellite subsystem robustness. To test software reliability and faulttolerance, fault injection is realised in a software way.
The idea is to study the behavior of the system in presence of faults in order to determine whether the system behaves properly or not. Software implemented fault injection for autosar based systems. Non intrusive debug and performance optimization for multicore systems to be held on may 3, 2011 in san jose, ca. The technique exploits the features of a standard debugging interface for embedded systems, called nexus, in order to inject faults without temporal overhead. Fault injection carnegie mellon university 18849b dependable embedded systems spring 1998 authors. However, techniques for injecting faults in physical systems, such as pinlevel fault injection 23 or software implemented fault injection swifi 456 provides limited controllability and observability. Virtual prototypes provide a complete framework to create advanced fault injection scenarios. An embedded system is a controller with a dedicated function within a larger mechanical or electrical system, often with realtime computing constraints. It is of nonintrusive implementation and all the realtime properties of the ventilator software system could be tested on target. Extending best practices for embedded software development, debug and test via virtual platforms and expertise 2nd november 2016, oxford, united kingdom imperas software ltd. The presented fault injector is more universal, it does not need. A kernellevel fault injection framework for armbased.
Yuste p, ruiz j, lemus l, gil p 2003 nonintrusive softwareimplemented fault injection in embedded systems. Collectively these techniques are known as software implemented fault injection swifi. Comparison of physical and softwareimplemented fault. Fault injection for embedded systems riscure training. Besides, these systems must provide a certain degree of fault tolerance, to guarantee that they keep a safe behavior even in the presence of faults in the system. Fault injection for embedded microprocessorbased systems. It proposes a new nonintrusive swifi technique for injecting faults in embedded systemonchip applications. Dependable computing first latinamerican symposium. Software fault injection sfi is an acknowledged method for assessing the dependability of software systems.
Simulationbased fault injection with qemu for speedingup. In fact, for most fault models, additional code has to be run on the same processor that executes the application. As the number of hardware devices integrated into an embedded system tends to. Faults are classified into one of the following categories. One technique to generate such faults is to manipulate the supply voltage of the device. Due to the systems evolution and fast development of new technologies, software related faults have been the cause of great economic losses and, also, human lives on the last years, e. On the emulation of software faults by software fault injection. A new background debug mode based technique for fault.
What types of problems do developers solve using virtual platforms. Abstract this paper presents an experimental study on the emulation of software faults by fault injection. In general embedded systems can be affected by two types of faults 1 that. Fault injection can be used to show that a system does prevent certain faults from. Software implemented fault injection for autosar based systems iii abstract this masters thesis describes the design and implementation of a software implemented fault injection tool, which can be used to perform robustness testing on application software components in embedded systems based on the autosar standard architecture. Testing safety properties of cyberphysical systems with. Research on the nonintrusive resource level fault injection. This approach can be easily adopted to various platforms due to a wide support of gdb project for many architectures. A study of software implemented fault tolerance in autosar. The experimental results show that the proposed method increases the fault coverage up to 99. Vsi can thus replace actual hardware in existing automotive software development flows.
Transportation industry automotive emissions combustion engineering research fault location engineering research heated oxygen sensors motor vehicles maintenance and repair usage medical equipment physiological. Request pdf testing safety properties of cyberphysical systems with non intrusive fault injection an industrial case study non intrusive, deterministic fault injection tests provide. Software fault injection sfi is an acknowledged method for assessing the. First of all, it provides more visibility and fault injection points than hardwarebased fault injection with contact. With no doubt, this will be a signi cant breakthrough for veri cation methodologies at maquet.
Modelbased testing is a research field addressing this challenge and many approaches have been suggested for diff. The grid as management backplane fault injection plug and play fault injector for dependability benchmarking nonintrusive softwareimplemented fault injection in embedded systems constraints on the use of boundaryscan for fault injection a. Fault injection is a phrase covering a variety of techniques for inducing faults in systems to measure their response to those faults. In a first experiment, a set of real software faults has been compared with faults injected by a swifi tool xception to evaluate the accuracy of the injected faults. Cisuc can software implemented faultinjection be used on.
Then a fault injection tool named jarifi is designed, which can inject faults. Hardware fault attack detection methods for secure. Fault injection and monitoring of resulting component crashes is used to built up an initial graph for a system. When the realtime nature of a system is combined with safety critical medical systems, having a reliable test system is of major importance. Based on the data, we derive an attack taxonomy to systematically identify and classify common attacks against embedded systems.
1298 887 1572 490 1255 1294 1318 1003 7 1266 940 537 422 893 1406 1367 156 1461 1573 797 1350 1249 188 269 819 202 543 1134 333 95 1025 181 955 76 620