Supporting Railway Infrastructure Managers with Formal Models and - - PowerPoint PPT Presentation
Supporting Railway Infrastructure Managers with Formal Models and - - PowerPoint PPT Presentation
Supporting Railway Infrastructure Managers with Formal Models and Analyses Bas Luttik Based on joint work with many people (to be mentioned later!) AlgoUK/BCTCS, April 6, 2020 European collaboration Standardisation 2 INTRODUCTION train
2 INTRODUCTION
European collaboration Standardisation
3 RAILWAY SAFETY SYSTEMS
point
INTERLOCKING
free
- ccupied
level crossing block/section train detection signal
4
- 1. An application of FM in the development of EULYNX
a) EULYNX, FormaSig (general ideas) b) First case study: Point c) Next steps
- 2. An application of FM in the development of ERTMS-HL3
a) Principles of ERTMS Hybrid level 3 b) Formal analysis c) Next steps
PLAN FOR THIS PRESENTATION
Collaboration with: Mark Bouwman, Djurre van der Wal Jaco van de Pol, Arend Rensink, Marielle Stoelinga
5 LEGACY SIGNALLING SYSTEMS
INTERLOCKING
Monolithic inflexible architecture Expensive special hardware
VENDOR LOCK-IN
Many different installations
6
INTERLOCKING
STANDARDISE ARCHITECTURE electronic → digital fibreglass network with IP-like protocol
- bject
controller
13 European inframanagers standardised interface ERTMS ready
VENDOR LOCK-IN
7 QUALITY OF STANDARD IS CRUCIAL
Obviously:
- 1. Standard should be clear and unambiguous
- 2. Standard should be complete
- 3. Standard should guarantee correct system behaviour
- 4. Compliance to standard should be thoroughly tested
BUT HOW TO ACHIEVE THIS FOR EULYNX? OBVIOUSLY:
8
- Growing interest in formal methods.
- Funded two 4-year PhD projects to investigate the
application of formal methods in their context.
- PhD students spend considerable time at Railway
Infrastructure manager’s premises.
FORMASIG PROJECT
9 FORMASIG PROJECT
Standardised interface spec
formal model
Delivered component
Formal Analysis
Compliance verdict
Model-based Testing
Adapter stimuli
- bservations
IMPROVE QUALITY OF STANDARD TEST COMPLIANCE TO STANDARD
10
formal model
FORMASIG PROJECT
Standardised interface spec Delivered component
Formal Analysis Model-based Testing
Adapter stimuli
- bservations
IMPROVE QUALITY OF STANDARD TEST COMPLIANCE TO STANDARD
Compliance verdict
11
Simple, but expressive, process-algebra based modelling language
- Rich data language (sets, lists, functions, integers, …)
- Parallel composition of (recursively defined) sequential processes
Analysis
- Simulation
- Model checking
§ First-order extension of the modal µ-calculus § Extensive counterexample facility § Behavioural equivalence checking § Connection to model-based test tool JTorX
https://www.mcrl2.org
12 FORMASIG PROJECT
Delivered component
Formal Analysis Model-based Testing
Adapter stimuli
- bservations
Standardised interface spec
IMPROVE QUALITY OF STANDARD TEST COMPLIANCE TO STANDARD
Compliance verdict
14 FORMASIG PROJECT
Delivered component
Formal Analysis Model-based Testing
Adapter stimuli
- bservations
Automatic Translation
IMPROVE QUALITY OF STANDARD TEST COMPLIANCE TO STANDARD
Compliance verdict
15 FIRST CASE STUDY: POINT
IMPROVE QUALITY OF STANDARD TEST COMPLIANCE TO STANDARD
FORMASIG PROJECT
Delivered component
Formal Analysis Model-based Testing
Adapter stimuli
- bservations
Automatic Translation Ma Manual SysML ML simulator
- r
Input from
- m railwa
way engi gineers needed
Compliance verdict
16 FIRST CASE STUDY: POINT
IMPROVE QUALITY OF STANDARD TEST COMPLIANCE TO STANDARD
FORMASIG PROJECT
Delivered component
Formal Analysis Model-based Testing
Adapter stimuli
- bservations
Automatic Translation Ma Manual SysML ML simulator
- r
Input from
- m railwa
way engi gineers needed
Verification results:
- 9 properties checked
- 1 false (deadlock due to overflowing buffer)
- (Interpretation) of SysML models under
discussion with DB Test results:
- Offline testing → generated 82 tests
- All tests passed (24/82 ended prematurely)
Compliance verdict
17 FORMASIG: NEXT STEPS
Point case study showed that FormaSig principle works Next steps:
- Automate translation SysML → mCRL2
Ø Semantics?
- Analyse correctness other object controllers
Ø Requirements?
- Online model-based testing, coverage-based testing
- Test mutants, test real component
18
- 1. An application of FM in the development of EULYNX
a) EULYNX, FormaSig (general ideas) b) First case study: Point c) Next steps
- 2. An application of FM in the development of ERTMS-HL3
a) Principles of ERTMS Hybrid level 3 b) Formal analysis c) Next steps
PLAN FOR THIS PRESENTATION
Collaboration with: Maarten Bartholomeus Rick Erkens Tim Willemse
38 ERTMS/ETCS
TTD 10 TTD 20 TTD 30
free
- ccupied
L2 L3
3 1 2
ERTMS LEVEL 3: ELIMINATE TRACKSIDE EQUIPMENT
1 2 3
L2 L3
L2 L3
ERTMS LEVEL 3
1 2 3
L3
ERTMS LEVEL 3
1 2 3
L3 promises considerable cost reduction and capacity increase SERIOUS DRAWBACKS:
- All trains must have TIM
- Not very tolerant for radio connection problems
ERTMS Hybrid Level 3
Train Integrity Monitoring
42 ERTMS HYBRID LEVEL 3
VSS 11 VSS 12 VSS 21 VSS 22 VSS 31 VSS 23 VSS 32 VSS 33 TTD 10 TTD 20 TTD 30
free
- ccupied
Main ideas:
- Partition TTDs into Virtual Sub-Sections (VSSs)
- Multiple TIM-equipped trains can be on
different VSSs of same TTD
1 2
43 ERTMS HYBRID LEVEL 3
VSS 11 VSS 12 VSS 21 VSS 22 VSS 31 VSS 23 VSS 32 VSS 33 TTD 10 TTD 20 TTD 30
free
- ccupied
Main ideas:
- Trackside maintain info on VSS status, based on
regular train reports and TTD information
- Movement authorities issued based on VSS status
1 2
44 ERTMS HL3 SPECIFICATION
EEIG ERTMS Users Group 123-133 Rue Froissart, 1040 Brussels, Belgium Tel: +32 (0)2 673.99.33 - TVA BE0455.935.830 Website: www.ertms.be E-mail: info@ertms.be 16E042 1A 14/07/2017 Hybrid ERTMS/ETCS Level 3 Page 1/48
Principles
Hbid ERTMS/ETCS Leel 3
Ref: Version: Date: 16E042 1A 14/07/2017
Purpose of the specification is:
- to describe how the trackside system should determine the
status of each individual VSS (based observed events)…
- …such that safe movement authorities can be issued…
- …without unnecessarily restricting implementation freedom.
45 ERTMS HL3 SPECIFICATION
EEIG ERTMS Users Group 123-133 Rue Froissart, 1040 Brussels, Belgium Tel: +32 (0)2 673.99.33 - TVA BE0455.935.830 Website: www.ertms.be E-mail: info@ertms.be 16E042 1A 14/07/2017 Hybrid ERTMS/ETCS Level 3 Page 1/48
Principles
Hbid ERTMS/ETCS Leel 3
Ref: Version: Date: 16E042 1A 14/07/2017
Purpose of the specification is:
- to describe how the trackside system should determine the
status of each individual VSS (based observed events)…
- …such that safe movement authorities can be issued…
- …without unnecessarily restricting implementation freedom.
VQ1: Does the specification guarantee that issued movement authorities are safe? (no collisions) VQ 2: Does it matter how the specification is implemented? (robustness of specification)
46 ERTMS HL3 SPECIFICATION
47
- Relevant data is easily modelled using mCRL2’s data language
- Transition conditions can then be modelled as predicates.
ERTMS HL3 SPECIFICATION
48
TRAIN TRACKSIDE SYSTEM
ERTMS HL3 BEHAVIOUR
VSS 11 VSS 12 VSS 21 VSS 22 VSS 31 VSS 23 VSS 32 VSS 33 TTD 10 TTD 20 TTD 30
free
- ccupied
1 2 ambiguous unknown
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Receive position reports from train Issue movement authority to train Monitor TTD status Compute VSS status bad weather behaviour Move, break, disconnect, connect Send position report to trackside system Receive movement authority from trackside system
49 COMPUTE VSS STATUS
Immediate Update strategy: Non-deterministically choose a VSS with an enabled transition and update its status. Repeat until stable. TRACKSIDE SYSTEM
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Receive position reports from train Issue movement authority to train Monitor TTD status Compute VSS status Event-handling assumption: After each event a stable VSS status must be reached before considering the next event. Simultaneous Update strategy: First compute VSSs with transition enabled and apply updates simultaneously. Repeat until stable.
50 COMPUTE VSS STATUS
Immediate Update strategy: Non-deterministically choose a VSS with an enabled transition and update its status. Repeat until stable. TRACKSIDE SYSTEM
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Receive position reports from train Issue movement authority to train Monitor TTD status Compute VSS status Event-handling assumption: After each event a stable VSS status must be reached before considering the next event. Simultaneous Update strategy: First compute VSSs with transition enabled and apply updates simultaneously. Repeat until stable. VQ3: Is a stable VSS status always reached? (termination of stabilisation) Rephrase VQ2: Are these two strategies behaviourally equivalent? VQ4: Is the stable VSS status reached after an event unique? (deterministic stabilisation)
51 ERTMS HL3: NEXT STEPS
HL3 version 1A did not satisfy VQ1– VQ4 We revised our model such that it does satisfy VQ1 – VQ4 HL3 version 1D seems very much in line with our revision ProRail has asked us to upgrade our model to 1D because they want a simulator for the principles
52 NO COLLISIONS?
[true]¬ t, t : TRAINid, v : VSSid. ExtendEoA(t, v)true
- l, l : List(VSSid).(v = rear(l) inbetween(rear(l), front(l), v))
reportlocation(t, l)true reportlocation(t, l)true
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IT IS NOT THE CASE THAT TRAIN t GETS A MOVEMENT AUTHORITY FOR A VSS THAT BELONGS TO THE LOCATION OF TRAIN t’
53
General procedure in mCRL2:
- 1. Apply appropriate abstraction
- 2. Generate state space
- 3. Minimise modulo behavioural equivalence
- 4. Generate PBES from formula and state space
- 5. Solve PBES
- 6. If false: obtain counterexample
VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20
3 2 1
NO COLLISIONS?
[true]¬ t, t : TRAINid, v : VSSid. ExtendEoA(t, v)true
- l, l : List(VSSid).(v = rear(l) inbetween(rear(l), front(l), v))
reportlocation(t, l)true reportlocation(t, l)true
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NO COLLISIONS: COUNTEREXAMPLE
VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20
3 2 1
55 NO COLLISIONS: COUNTEREXAMPLE
VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20
3 2 1
56 NO COLLISIONS: COUNTEREXAMPLE
VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20
3 2 1
57 NO COLLISIONS: COUNTEREXAMPLE
VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20
3 2 1
integrity confirmed
58 NO COLLISIONS: COUNTEREXAMPLE
VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20
3 2 1
integrity confirmed
59 NO COLLISIONS: COUNTEREXAMPLE
VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20
3 2 1
FSMA VSS21