The eITUS Safety View is part of the Papyrus4Robotics toolchain and organised as follows:
The fault injection view can be used together with the FMEA, FTA and safety requirements view to complement or verify those analyses. Regarding the fault injection view, the eITUS framework sets up, configures, executes and analyses the simulation results. Model-based design combined with a simulation-based fault injection technique and a virtual robot poses as a promising solution for an early safety assessment of robotics systems.
The safety engineer extends the nominal or fault free behaviour of the controller by introducing saboteurs in inputs/output ports of the design. This configuration process includes the definition of fault locations (Where to inject the fault?), fault injection times (When to trigger the fault?), fault durations (For how long the fault is present in the system?) and the fault model (How does the component fail?). The original system model is modified though the fault injector script according to the fault list.
The fault list is used to produce a faulty model only in terms of reproducible and prearranged fault models. All this allows to:
The safety view can be used to:
Related to the Fault Tree Analysis View (FTA) available in the Papyrus4Robotics toolchain.