Supporting Railway Infrastructure Managers with Formal Models and - - PowerPoint PPT Presentation

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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


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SLIDE 1

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

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SLIDE 2

2 INTRODUCTION

European collaboration Standardisation

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SLIDE 3

3 RAILWAY SAFETY SYSTEMS

point

INTERLOCKING

free

  • ccupied

level crossing block/section train detection signal

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SLIDE 4

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

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SLIDE 5

5 LEGACY SIGNALLING SYSTEMS

INTERLOCKING

Monolithic inflexible architecture Expensive special hardware

VENDOR LOCK-IN

Many different installations

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SLIDE 6

6

INTERLOCKING

STANDARDISE ARCHITECTURE electronic → digital fibreglass network with IP-like protocol

  • bject

controller

13 European inframanagers standardised interface ERTMS ready

VENDOR LOCK-IN

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SLIDE 7

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:

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SLIDE 8

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

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SLIDE 9

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

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SLIDE 10

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

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SLIDE 11

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

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SLIDE 12

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

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SLIDE 13

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

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SLIDE 14

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

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SLIDE 15

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

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SLIDE 16

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
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SLIDE 17

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

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SLIDE 18

38 ERTMS/ETCS

TTD 10 TTD 20 TTD 30

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  • ccupied

L2 L3

3 1 2

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SLIDE 19

ERTMS LEVEL 3: ELIMINATE TRACKSIDE EQUIPMENT

1 2 3

L2 L3

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SLIDE 20

L2 L3

ERTMS LEVEL 3

1 2 3

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SLIDE 21

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

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SLIDE 22

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

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SLIDE 23

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

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SLIDE 24

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.
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SLIDE 25

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)

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SLIDE 26

46 ERTMS HL3 SPECIFICATION

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47

  • Relevant data is easily modelled using mCRL2’s data language
  • Transition conditions can then be modelled as predicates.

ERTMS HL3 SPECIFICATION

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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

slide-29
SLIDE 29

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.

slide-30
SLIDE 30

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)

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SLIDE 31

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

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SLIDE 32

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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GLOBALLY IT IS NOT THE CASE THAT TRAIN t GETS A MOVEMENT AUTHORITY FOR A VSS THAT BELONGS TO THE LOCATION OF TRAIN t’

slide-33
SLIDE 33

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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SLIDE 34

54 NO COLLISIONS: COUNTEREXAMPLE

VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20

3 2 1

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SLIDE 35

55 NO COLLISIONS: COUNTEREXAMPLE

VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20

3 2 1

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SLIDE 36

56 NO COLLISIONS: COUNTEREXAMPLE

VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20

3 2 1

slide-37
SLIDE 37

57 NO COLLISIONS: COUNTEREXAMPLE

VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20

3 2 1

integrity confirmed

slide-38
SLIDE 38

58 NO COLLISIONS: COUNTEREXAMPLE

VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20

3 2 1

integrity confirmed

slide-39
SLIDE 39

59 NO COLLISIONS: COUNTEREXAMPLE

VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20

3 2 1

FSMA VSS21

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SLIDE 40

60 NO COLLISIONS: COUNTEREXAMPLE

VSS 11 VSS 21 VSS 22 VSS 23 TTD 10 TTD 20

3 2 1

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SLIDE 41

61