Suggestion of Testing Method

For Industrial Level
Cyber-Physical System
in Complex Environment
InSTA 2019
Sensitivity: Internal

Introduction

Sensitivity: Internal

Introduction

Input data

10010100101(Analog Signal) or

CPS

HardwareOutputdata

Software

011010110100(Processed Analog Signal) or

Sensitivity: Internal

Real World data

(Digital Signal)(Processed Digital Signal)

Test
Range

Sensor (GPS, Temp etc.)
SoftwareActuator (Motor etc.)

Result Action(Flight, Stop etc.)

Test
Range

Introduction

Inject

Test Management System

Test Case

Sensitivity: Internal

LoggingCPS

Introduction

VirtualSensor

SimulatorActuator data
Drone flight
Command (Serial)

Test Management SystemCPS

Test Case

Command Controller

Sensitivity: Internal

Introduction

Sensitivity: Internal

Previous Work · Body · Future work

Previous work

Sensitivity: Internal

Body

Future Work

Body

Sensitivity: Internal

SensorDevice Under Test Area

Test Management Area

Body

Simulation Area

Software

Interpreter

Actuator

Hooking

Simulator

Hooking

Sensitivity: Internal

Sniffing

Interpret the result

Disarming

Avoid Probe Effect

Abstract  Physical

Record & Play

SensorDevice Under Test Area

Test Management Area

Body

Simulation Area

SoftwareActuator

Interpreter

SimulatorHooking

Sensitivity: Internal

Sniffing

Interpret the result

Sniffing

Disarming

Avoid Probe Effect

Abstract  Physical

Record & Play

Test Case•••

Data 3Fly Seoul Blue HouseFly Jeju Airport
Wind 5m/s

Data 1

SensorDevice Under Test Area

Test Management Area

Body

SoftwareSimulation Area

Data 4

Environment
Model

Drone
Model

Hooking

Sensitivity: Internal

Sniffing

UpdateData 2

Interpreter

Actuator

Interpreting
InitialSplitting

Simulator

Interpret the result

Disarming

Avoid Probe Effect

Abstract  Physical

Record & PlayFail Safe
Mechanism
Disarming

Test Data
Generator

Test Case•••Test Management SystemFlightCommandManagerFly Seoul Blue HouseFly Jeju Airport
Wind 5m/s

SensorDevice Under Test Area

Test Management Area

Body

Simulation Area

Software- Restart the CPS system- Gap Data Injection

Actuator

Interpreter

Fail
Safe
Mechanism
InsideSimulator

Hooking

Sensitivity: Internal

Sniffing

Interpret the result

Disarming

Avoid Probe Effect

Abstract  Physical

Record & Play

(10Hz)Sensor

Simulation Area

Probe Effect
Avoidance

Device Under Test Area

Test Management Area

Body

SoftwareActuator
Hooking(Serial #1. 500Hz)

Sniffing(Serial #2. 200Hz)

Hooking

Sensitivity: Internal

SniffingInterpret the result

Disarming

Avoid Probe Effect

Abstract  Physical

Record & PlayDevice Under Test Area

Test Management Area

Body

Test Management System
Test Data
Generator

Test Case•••

Fly Seoul Blue HouseFly Jeju Airport
Wind 5m/s

Step 1FlightCommandManagerConvert Abstract TC

0’’ Armto Physical TD
5’’ Take off
15’’ Goto 000.000 position
45’’ Land55’’ Disarm…

Step 3

Environment
Model

Wind,
Temp,
…

Drone
Model

Hooking

Sniffing

Simulation Area

Wind,
Temp,
…

Sensitivity: Internal

UpdateStep 2

Interpreter

InitialSplitting

Simulator

Interpret the result

Disarming

Avoid Probe Effect

Abstract  Physical

Record & Play

Test Management System
FlightCommandManager

Simulation Area

Test Data
Generator

Recording & play

Device Under Test Area

Test Management Area

Body

Hooking

Sensitivity: Internal

Sniffing

Interpret the result

Disarming

Avoid Probe Effect

Abstract  Physical

Record & PlayDevice Under Test Area

Comparison Flight Data

Field Test
Roll Axis

Yaw Axis

Pitch Axis

Test Case•••

Simulation Area

Test Management Area

Future work

Sensitivity: Internal

Fly Seoul Blue HouseFly Jeju Airport
Wind 5m/s

Wind,
Temp,
…

Quad,Hexa,…

Environment
ModelDrone
ModelAxis

Full
Range

Error
Analysis
(10%)

Roll
Error

-90~+90181.0278 1.7750 1.6982 1.9184 1.8293…

182.2939 3.1922 2.3077 2.6055 2.5094…

3610.326 9.5128 8.0421 15.193 15.136…

UpdateInterpreter

InitialSplitting

Simulator

Pitch
Error

-90~+90

Yaw
Error-180~+180

Test
#1

Test
#2

Test
#3

Test
#4

Test
#5…

Conclusion

Sensitivity: Internal

Sensitivity: InternalSummary

Input data

10010100101(Analog Signal) or

CPS

HardwareOutputdata

Software

011010110100(Processed Analog Signal) or

Sensitivity: Internal

Real World data

(Digital Signal)(Processed Digital Signal)

Test
Range

Sensor (GPS, Temp etc.)
SoftwareActuator (Motor etc.)

Result Action(Flight, Stop etc.)

Test
Range

SummaryInject

Test Management System

Test Case

Sensitivity: Internal

Logging

CPS

THANK YOU
CONTACT: sichon@thinkforbl.com......
Kim Jiseob
Chon Sunil of ThinkforBL
Park Jihwan

Sensitivity: Internal