Change search
Link to record
Permanent link

Direct link
BETA
Publications (10 of 35) Show all publications
Vedder, B., Svensson, J., Vinter, J. & Jonsson, M. (2020). Automated Testing of Ultrawideband Positioning for Autonomous Driving. Journal of Robotics, 2020, Article ID 9345360.
Open this publication in new window or tab >>Automated Testing of Ultrawideband Positioning for Autonomous Driving
2020 (English)In: Journal of Robotics, ISSN 1687-9600, E-ISSN 1687-9619, Vol. 2020, article id 9345360Article in journal (Refereed) Published
Abstract [en]

Autonomous vehicles need accurate and dependable positioning, and these systems need to be tested extensively. We have evaluated positioning based on ultrawideband (UWB) ranging with our self-driving model car using a highly automated approach. Random drivable trajectories were generated, while the UWB position was compared against the Real-Time Kinematic Satellite Navigation (RTK-SN) positioning system which our model car also is equipped with. Fault injection was used to study the fault tolerance of the UWB positioning system. Addressed challenges are automatically generating test cases for real-time hardware, restoring the state between tests, and maintaining safety by preventing collisions. We were able to automatically generate and carry out hundreds of experiments on the model car in real time and rerun them consistently with and without fault injection enabled. Thereby, we demonstrate one novel approach to perform automated testing on complex real-time hardware.

Place, publisher, year, edition, pages
Hindawi Limited, 2020
Keywords
Automatic test pattern generation, Automation, Fault tolerance, Software testing, Ultra-wideband (UWB), Automated approach, Automated testing, Autonomous driving, Fault injection, Positioning system, Real time kinematic, Real-time hardware, Satellite navigation, Autonomous vehicles
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-43946 (URN)10.1155/2020/9345360 (DOI)2-s2.0-85079208712 (Scopus ID)
Available from: 2020-02-19 Created: 2020-02-19 Last updated: 2020-02-20Bibliographically approved
Shan, L., Sangchoolie, B., Folkesson, P., Vinter, J., Schoitsch, E. & Loiseuax, C. (2019). A Survey on the Applicability of Safety, Security and Privacy Standards in Developing Dependable Systems. In: Alexander Romanovsky, Elena Troubitsyna, Ilir Gashi, Erwin Schoitsch, Friedemann Bitsch (Eds.) (Ed.), Computer Safety,Reliability, and Security: . Paper presented at DECSoS 2019.
Open this publication in new window or tab >>A Survey on the Applicability of Safety, Security and Privacy Standards in Developing Dependable Systems
Show others...
2019 (English)In: Computer Safety,Reliability, and Security / [ed] Alexander Romanovsky, Elena Troubitsyna, Ilir Gashi, Erwin Schoitsch, Friedemann Bitsch (Eds.), 2019Conference paper, Published paper (Refereed)
Abstract [en]

Safety-critical systems are required to comply with safety standards. These systems are increasingly digitized and networked to an extent where they need to also comply with security and privacy standards. This paper aims to pro-vide insights into how practitioners apply the standards on safety, security or pri-vacy (Sa/Se/Pr), as well as how they employ Sa/Se/Pr analysis methodologies and software tools to meet such criteria. To this end, we conducted a question-naire-based survey within the participants of an EU project SECREDAS and ob-tained 21 responses. The results of our survey indicate that safety standards are widely applied by product and service providers, driven by the requirements from clients or regulators/authorities. When it comes to security standards, practition-ers face a wider range of standards while few target specific industrial sectors. Some standards linking safety and security engineering are not widely used at the moment, or practitioners are not aware of this feature. For privacy engineering, the availability and usage of standards, analysis methodologies and software tools are relatively weaker than safety and security, reflecting the fact that privacy en-gineering is an emerging concern for practitioners.

Series
Springer LNCS vol. 11699, ISSN 1611-3349
Keywords
Safety, Security, Privacy, Standards, Dependable Systems
National Category
Computer Systems
Identifiers
urn:nbn:se:ri:diva-39961 (URN)978-3-030-26250-1 (ISBN)
Conference
DECSoS 2019
Funder
EU, Horizon 2020, 783119
Available from: 2019-09-25 Created: 2019-09-25 Last updated: 2019-09-27Bibliographically approved
Lijun, S., Sangchoolie, B., Folkesson, P., Vinter, J., Schoitsch, E. & Loiseaux, C. (2019). A Survey on the Application of Safety, Security,and Privacy Standards for Dependable Systems. In: Proceedings of the 15th European Dependable Computing Conference: . Paper presented at European Dependable Computing Conference (EDCC).
Open this publication in new window or tab >>A Survey on the Application of Safety, Security,and Privacy Standards for Dependable Systems
Show others...
2019 (English)In: Proceedings of the 15th European Dependable Computing Conference, 2019Conference paper, Published paper (Refereed)
Abstract [en]

Safety-critical systems are required to comply withsafety standards as well as security and privacy standards.In order to provide insights into how practitioners apply thestandards on safety, security or privacy (Sa/Se/Pr), as well ashow they employ Sa/Se/Pr analysis methodologies and softwaretools to meet such criteria, we conducted a questionnaire-basedsurvey. This paper summarizes our major analysis results of thereceived responses.

Keywords
safety, security, privacy, standards, dependable systems
National Category
Computer Systems
Identifiers
urn:nbn:se:ri:diva-40189 (URN)
Conference
European Dependable Computing Conference (EDCC)
Projects
SECREDAS
Available from: 2019-10-03 Created: 2019-10-03 Last updated: 2019-10-09Bibliographically approved
Vedder, B., Vinter, J. & Jonsson, M. (2018). A Low-Cost Model Vehicle Testbed with Accurate Positioning for Autonomous Driving. Journal of Robotics, Article ID 4907536.
Open this publication in new window or tab >>A Low-Cost Model Vehicle Testbed with Accurate Positioning for Autonomous Driving
2018 (English)In: Journal of Robotics, ISSN 1687-9600, E-ISSN 1687-9619, article id 4907536Article in journal (Refereed) Published
Abstract [en]

Accurate positioning is a requirement for many applications, including safety-critical autonomous vehicles. To reduce cost and at the same time improving accuracy for positioning of autonomous vehicles, new methods, tools, and research platforms are needed. We have created a low-cost testbed consisting of electronics and software that can be fitted on model vehicles allowing them to follow trajectories autonomously with a position accuracy of around 3 cm outdoors. The position of the vehicles is derived from sensor fusion between Real-Time Kinematic Satellite Navigation (RTK-SN), odometry, and inertial measurement and performs well within a 10 km radius from a base station. Trajectories to be followed can be edited with a custom GUI, where also several model vehicles can be controlled and visualized in real time. All software and Printed Circuit Boards (PCBs) for our testbed are available as open source to make customization and development possible. Our testbed can be used for research within autonomous driving, for carrying test equipment, and other applications where low cost and accurate positioning and navigation are required.

Keywords
Costs, Equipment testing, Open source software, Open systems, Safety engineering, Testbeds, Vehicles, Autonomous driving, Autonomous Vehicles, Inertial measurements, Position accuracy, Printed circuit board (PCBs), Real time kinematic, Research platforms, Satellite navigation, Printed circuit boards
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-36676 (URN)10.1155/2018/4907536 (DOI)2-s2.0-85058336224 (Scopus ID)
Note

 Funding details: Fellowships Fund Incorporated; Funding details: VINNOVA; Funding details: Knowledge Foundation;

Available from: 2018-12-21 Created: 2018-12-21 Last updated: 2020-01-29Bibliographically approved
Sangchoolie, B., Folkesson, P. & Vinter, J. (2018). A Study of the Interplay Between Safety and Security Using Model-Implemented Fault Injection. In: : . Paper presented at 14th European Dependable Computing Conference, EDCC 2018; Iasi; Romania; 10 September 2018 through 14 September 2018 (pp. 41-48).
Open this publication in new window or tab >>A Study of the Interplay Between Safety and Security Using Model-Implemented Fault Injection
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

The combination of high mobility and wireless communication in many safety-critical systems have increased their exposure to malicious security threats. Consequently, many works in the past have proposed solutions to ensure safety and security of these systems. However, not much attention has been given to the interplay between these two groups of nonfunctional requirements. This is a concern as safety solutions may negatively impact system security and vice versa. This paper addresses the interplay between safety and security by proposing an attack injection framework, based on model-implemented fault injection, suitable for model-based design. The framework enables us to study and evaluate the impact of cybersecurity attacks on system safety early in the development process. To this end, we have implemented six attack injection models and conducted experiments on Simulink models of a CAN bus and a brake-by-wire controller. The results show that the security attacks modeled could successfully impact the system safety by violating our defined safety requirements.

Keywords
fault injection, attack injection, security, safety, cybersecurity attack, model-based design
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:ri:diva-36477 (URN)10.1109/EDCC.2018.00018 (DOI)2-s2.0-85053862860 (Scopus ID)9781538680605 (ISBN)
Conference
14th European Dependable Computing Conference, EDCC 2018; Iasi; Romania; 10 September 2018 through 14 September 2018
Funder
Vinnova
Available from: 2018-11-22 Created: 2018-11-22 Last updated: 2019-06-27Bibliographically approved
Vedder, B., Vinter, J. & Jonsson, M. (2018). Accurate positioning of bicycles for improved safety. In: : . Paper presented at 2018 IEEE International Conference on Consumer Electronics (ICCE) (pp. 1-6).
Open this publication in new window or tab >>Accurate positioning of bicycles for improved safety
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Cyclists are not well protected in accidents with other road users, and there are few active safety systems available for bicycles. In this study we have evaluated the use of inexpensive Real-Time Kinematic Satellite Navigation (RTK-SN) receivers with multiple satellite constellations together with dead reckoning for accurate positioning of bicycles to enable active safety functions such as collision warnings. This is a continuation of previous work were we concluded that RTK-SN alone is not sufficient in moderately dense urban areas as buildings and other obstructions degrade the performance of RTK-SN significantly. In this work we have added odometry to the positioning system as well as extending RTK-SN with multiple satellite constellations to deal with situations where the view of the sky is poor and thus fewer satellites are in view. To verify the performance of the positioning system we have used Ultra-Wideband radios as an independent positioning system to compare against while testing during poor conditions for RTK-SN. We were able to verify that adding dead reckoning and multiple satellite constellations improves the performance significantly under poor conditions and makes the positioning system more useful for active safety systems.

Keywords
alarm systems, bicycles, distance measurement, radio receivers, road accidents, road safety, safety systems, satellite navigation, multiple satellite constellations, active safety systems, accurate positioning, improved safety, Real-Time Kinematic Satellite Navigation receivers, RTK-SN, dead reckoning, active safety functions, moderately dense urban areas, independent positioning system, collision warnings, ultra-wideband radios, RNA, Integrated circuits, Conferences, Consumer electronics, RTK GPS, odometry, testbed, bicycle, positioning, ultra-wideband
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-34333 (URN)10.1109/ICCE.2018.8326237 (DOI)2-s2.0-85048765893 (Scopus ID)
Conference
2018 IEEE International Conference on Consumer Electronics (ICCE)
Available from: 2018-08-07 Created: 2018-08-07 Last updated: 2020-01-29Bibliographically approved
Folkesson, P., Ayatolahi, F., Sangchoolie, B., Vinter, J., Islam, M. & Karlsson, J. (2015). Back-to-Back Fault Injection Testing in Model-Based Development. In: Floor Koornneef, Coen van Gulijk (Ed.), Computer Safety, Reliability, and Security: . Paper presented at 34th International Conference on Computer Safety, Reliability, and Security (SAFECOMP 2015), September 23-25, 2015, Delft, Netherlands (pp. 135-148). , 9337
Open this publication in new window or tab >>Back-to-Back Fault Injection Testing in Model-Based Development
Show others...
2015 (English)In: Computer Safety, Reliability, and Security / [ed] Floor Koornneef, Coen van Gulijk, 2015, Vol. 9337, p. 135-148Conference paper, Published paper (Refereed)
Abstract [en]

Today, embedded systems across industrial domains (e.g., avionics,automotive) are representatives of software-intensive systems with increasingreliance on software and growing complexity. It has become critically importantto verify software in a time, resource and cost effective manner. Furthermore,industrial domains are striving to comply with the requirements of relevantsafety standards. This paper proposes a novel workflow along with tool supportto evaluate robustness of software in model-based development environment,assuming different abstraction levels of representing software. We then showthe effectiveness of our technique, on a brake-by-wire application, byperforming back-to-back fault injection testing between two differentabstraction levels using MODIFI for the Simulink model and GOOFI-2 for thegenerated code running on the target microcontroller. Our proposed method andtool support facilitates not only verifying software during early phases of thedevelopment lifecycle but also fulfilling back-to-back testing requirements of ISO 26262 [1] when using model-based development.

Series
Lecture Notes in Computer Science (LNCS), ISSN 0302-9743 ; 9337
Keywords
fault-injection, back-to-back testing, model-based development, embedded systems, functional safety, soft errors
National Category
Computer Systems
Identifiers
urn:nbn:se:ri:diva-36480 (URN)10.1007/978-3-319-24255-2_11 (DOI)2-s2.0-84969856748 (Scopus ID)978-3-319-24254-5 (ISBN)978-3-319-24255-2 (ISBN)
Conference
34th International Conference on Computer Safety, Reliability, and Security (SAFECOMP 2015), September 23-25, 2015, Delft, Netherlands
Funder
EU, FP7, Seventh Framework Programme, 295311
Available from: 2018-11-22 Created: 2018-11-22 Last updated: 2020-01-31Bibliographically approved
Vedder, B., Eriksson, H., Skarin, D., Vinter, J. & Jonsson, M. (2015). Towards Collision Avoidance for Commodity Hardware Quadcopters with Ultrasound Localization (ed.). In: : . Paper presented at Proceedings of The 2015 International Conference on Unmanned Aircraft Systems. Denver, USA (pp. 193-203).
Open this publication in new window or tab >>Towards Collision Avoidance for Commodity Hardware Quadcopters with Ultrasound Localization
Show others...
2015 (English)Conference paper, Published paper (Other academic)
Abstract [en]

We present a quadcopter platform built with commodity hardware that is able to do localization in GNSS-denied areas and avoid collisions by using a novel easy-to-setup and inexpensive ultrasound-localization system. We address the challenge to accurately estimate the copter's position and not hit any obstacles, including other, moving, quadcopters. The quadcopters avoid collisions by placing contours that represent risk around static and dynamic objects and acting if the risk contours overlap with ones own comfort zone. Position and velocity information is communicated between the copters to make them aware of each other. The shape and size of the risk contours are continuously updated based on the relative speed and distance to the obstacles and the current estimated localization accuracy. Thus, the collision-avoidance system is autonomous and only interferes with human or machine control of the quadcopter if the situation is hazardous. In the development of this platform we used our own simulation system using fault-injection (sensor faults, communication faults) together with automatically-generated tests to identify problematic scenarios for which the localization and risk contour parameters had to be adjusted. In the end, we were able to run thousands of simulations without any collisions, giving us confidence that also many real quadcopters can manoeuvre collision free in space-constrained GNSS-denied areas.

National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-6882 (URN)10.1109/ICUAS.2015.7152291 (DOI)2-s2.0-84941030880 (Scopus ID)29527 (Local ID)29527 (Archive number)29527 (OAI)
Conference
Proceedings of The 2015 International Conference on Unmanned Aircraft Systems. Denver, USA
Available from: 2016-09-08 Created: 2016-09-08 Last updated: 2020-01-29Bibliographically approved
Vedder, B. & Vinter, J. (2014). Combining fault-injection with Property-Based Testing (ed.). In: Workshop on Engineering Simulations for Cyber Physical Systems, ES4CPS 2014: . Paper presented at ACM International Conference Proceeding Series (Workshop on Engineering Simulations for Cyber Physical Systems, ES4CPS 2014 - Held in Conjunction with the Conference Design, Automation and Test in Europe, DATE 2014; Dresden; Germany; 28 March 2014 through.
Open this publication in new window or tab >>Combining fault-injection with Property-Based Testing
2014 (English)In: Workshop on Engineering Simulations for Cyber Physical Systems, ES4CPS 2014, 2014, , p. 1-8Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we present a methodology and a platform using Fault Injection (FI) and Property-Based Testing (PBT). PBT is a technique in which test cases are automatically generated from a specification of a system property. The generated test cases vary input stimuli as well as the sequence in which commands are executed. FI is used to accelerate the occurrences of faults in a system to exercise and evaluate fault handling mechanisms and e.g. calculate error detection coverage. By combining the two we have achieved a way of randomly injecting different faults at arbitrary moments in the execution sequence while checking whether certain properties still hold. We use the commercially available tool QuickCheck for generating the test cases and developed FaultCheck for FI. FaultCheck enables the user to utilize fault models, commonly used during FI, from PBT tools like QuickCheck. We demonstrate our method and tools on a simplified example of two Airbag systems that should meet safety requirements. We can easily find a safety violation in one of the examples, whereas by using the AUTOSAR E2E-library implementation, exhaustive testing cannot reveal any such safety violation. This demonstrates that our approach on testing can reveal certain safety violations in a cost-effective way.

Publisher
p. 1-8
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-12452 (URN)10.1145/2559627.2559629 (DOI)2-s2.0-84904571627 (Scopus ID)23642 (Local ID)23642 (Archive number)23642 (OAI)
Conference
ACM International Conference Proceeding Series (Workshop on Engineering Simulations for Cyber Physical Systems, ES4CPS 2014 - Held in Conjunction with the Conference Design, Automation and Test in Europe, DATE 2014; Dresden; Germany; 28 March 2014 through
Available from: 2016-09-13 Created: 2016-09-13 Last updated: 2020-01-29Bibliographically approved
Skarin, D., Vinter, J. & Svenningsson, R. (2014). Visualization of Model-Implemented Fault Injection Experiments (ed.). Lecture Notes in Computer Science, 8696, 219-230
Open this publication in new window or tab >>Visualization of Model-Implemented Fault Injection Experiments
2014 (English)In: Lecture Notes in Computer Science, Vol. 8696, p. 219-230Article in journal (Other academic) Published
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-6657 (URN)19190 (Local ID)19190 (Archive number)19190 (OAI)
Available from: 2016-09-08 Created: 2016-09-08 Last updated: 2018-07-05Bibliographically approved
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-6191-6253

Search in DiVA

Show all publications
v. 2.35.10