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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Monitoring ROS2: From Requirements to Autonomous Robots

Context/Goals - Capture mission requirements in high-level language. - Monitor requirements for robots. At a Glance - Transform requirements into runtime monitors for ROS2: - Requirements elicitation.* - Transform requirements into Temporal Logic formulas.* - Transform Temporal Logic formulas into runtime monitors.* - Generate hard real-time code for monitors.* - Generate ROS2 application directly from requirements.+ *Steps done in prior work. +Steps extended from prior work.

Runtime verification↗
NASA NTRS2002

Program Instrumentation and Trace Analysis

Several attempts have been made recently to apply techniques such as model checking and theorem proving to the analysis of programs. This shall be seen as a current trend to analyze real software systems instead of just their designs. This includes our own effort to develop a model checker for Java, the Java PathFinder 1, one of the very first of its kind in 1998. However, model checking cannot handle very large programs without some kind of abstraction of the program. This paper describes a complementary scalable technique to handle such large programs. Our interest is turned on the observation part of the equation: How much information can be extracted about a program from observing a single execution trace? It is our intention to develop a technology that can be applied automatically and to large full-size applications, with minimal modification to the code. We present a tool, Java PathExplorer (JPaX), for exploring execution traces of Java programs. The tool prioritizes scalability for completeness, and is directed towards detecting errors in programs, not to prove correctness. One core element in JPaX is an instrumentation package that allows to instrument Java byte code files to log various events when executed. The instrumentation is driven by a user provided script that specifies what information to log. Examples of instructions that such a script can contain are: 'report name and arguments of all called methods defined in class C, together with a timestamp'; 'report all updates to all variables'; and 'report all acquisitions and releases of locks'. In more complex instructions one can specify that certain expressions should be evaluated and even that certain code should be executed under various conditions. The instrumentation package can hence be seen as implementing Aspect Oriented Programming for Java in the sense that one can add functionality to a Java program without explicitly changing the code of the original program, but one rather writes an aspect and compiles it into the original program using the instrumentation. Another core element of JPaX is an observation package that supports the analysis of the generated event stream. Two kinds of analysis are currently supported. In temporal analysis the execution trace is evaluated against formulae written in temporal logic. We have implemented a temporal logic evaluator on finite traces using the Maude rewriting system from SRI International, USA. Temporal logic is defined in Maude by giving its syntax as a signature and its semantics as rewrite equations. The resulting semantics is extremely efficient and can handle event streams of hundreds of millions events in few minutes. Furthermore, the implementation is very succinct. The second form of even stream analysis supported is error pattern analysis where an execution trace is analyzed using various error detection algorithms that can identify error-prone programming practices that may potentially lead to errors in some different executions. Two such algorithms focusing on concurrency errors have been implemented in JPaX, one for deadlocks and the other for data races. It is important to note, that a deadlock or data race potential does not need to occur in order for its potential to be detected with these algorithms. This is what makes them very scalable in practice. The data race algorithm implemented is the Eraser algorithm from Compaq, however adopted to Java. The tool is currently being applied to a code base for controlling a spacecraft by the developers of that software in order to evaluate its applicability.

Havelund, Klaus↗
NASA NTRS1983

An interval logic for higher-level temporal reasoning

Prior work explored temporal logics, based on classical modal logics, as a framework for specifying and reasoning about concurrent programs, distributed systems, and communications protocols, and reported on efforts using temporal reasoning primitives to express very high level abstract requirements that a program or system is to satisfy. Based on experience with those primitives, this report describes an Interval Logic that is more suitable for expressing such higher level temporal properties. The report provides a formal semantics for the Interval Logic, and several examples of its use. A description of decision procedures for the logic is also included.

Schwartz, R. L.↗
DOE OSTI2026

Resilience Through Data-Driven, Intelligent Designed Control: A Formal Methods Approach

The PNNL and GTRI team developed a strategy to integrate temporal logic rule specification for detection of cyber-intrusion in the source code and control algorithms of CPS using advanced cyber-data. The GTRI team utilized its capabilities in rule synthesis and temporal logic specifications for software assurance and verification to detect and predict impact of cyber-intrusions and malware in the computational and control algorithms of cyber-physical systems. The team also developed a testing and verification approach that could be used to validate the suggested approach against a realistic use-case CPS showcasing improvements in system impact prediction performance. Temporal logic offers a compact expression of events in absolute and relative time and has a formalized translation to state machines. As such, temporal logic rules can feasibly be synthesized to any system as a rule engine, with the process being formally verified to be correct. The goal here is to utilize temporal logic rules to detect cyber-attacks and manipulations in the computational algorithms and provide real-time software assurance and verification guarantees.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1998

Cooperation Among Theorem Provers

This is a final report, which supports NASA's PECSEE (Persistent Cognizant Software Engineering Environment) effort and complements the Kestrel Institute project "Inference System Integration via Logic Morphism". The ultimate purpose of the project is to develop a superior logical inference mechanism by combining the diverse abilities of multiple cooperating theorem provers. In many years of research, a number of powerful theorem-proving systems have arisen with differing capabilities and strengths. Resolution theorem provers (such as Kestrel's KITP or SRI's, SNARK) deal with first-order logic with equality but not the principle of mathematical induction. The Boyer-Moore theorem prover excels at proof by induction but cannot deal with full first-order logic. Both are highly automated but cannot accept user guidance easily. The PVS system (from SRI) in only automatic within decidable theories, but it has well-designed interactive capabilities: furthermore, it includes higher-order logic, not just first-order logic. The NuPRL system from Cornell University and the STeP system from Stanford University have facilities for constructive logic and temporal logic, respectively - both are interactive. It is often suggested - for example, in the anonymous "QED Manifesto"-that we should pool the resources of all these theorem provers into a single system, so that the strengths of one can compensate for the weaknesses of others, and so that effort will not be duplicated. However, there is no straightforward way of doing this, because each system relies on its own language and logic for its success. Thus. SNARK uses ordinary first-order logic with equality, PVS uses higher-order logic. and NuPRL uses constructive logic. The purpose of this project, and the companion project at Kestrel, has been to use the category-theoretic notion of logic morphism to combine systems with different logics and languages. Kestrel's SPECWARE system has been the vehicle for the implementation.

Waldinger, Richard J.↗
NASA NTRSDate not supplied

Runtime Analysis with R2U2: A Tool Exhibition Report

We present R2U2 (Realizable, Responsive, Unobtrusive Unit), a hardware- supported tool and framework for the continuous monitoring of safetycritical and embedded cyber-physical systems.With the widespread advent of autonomous systems such as Unmanned Aerial Systems (UAS), satellites, rovers, and cars, real-time, on-board decision making requires unobtrusive monitoring of properties for safety, performance, security, and system health. R2U2 models combine past-time and future-time Metric Temporal Logic, “mission time” Linear Temporal Logic, probabilistic reasoning with Bayesian Networks, and modelbased prognostics. The R2U2 monitoring engine can be instantiated as a hardware solution, running on an FPGA, or as a software component. The FPGA realization enables R2U2 to monitor complex cyber-physical systems without any overhead or instrumentation of the flight software. In this tool exhibition report, we present R2U2 and demonstrate applications on system runtime monitoring, diagnostics, software health management, and security monitoring for a UAS. Our tool demonstration uses a hardware-based processor-in-the-loop “iron-bird” configuration.

Johann Martin Schumann↗
NASA NTRS2010

TPSAS-NF1676L-9990-DND

PVS (Prototype Veri cation System)1 is an interactive environment for the specification and verification of systems. PVS provides a strongly typed specification language, which is based on Higher-Order Logic. The type system of PVS supports: sub-typing, dependent-types, abstract data types, parametric types, records, unions, and tuples. The PVS theorem prover includes decision procedures for a variety of theories such as linear arithmetic, propositional logic, and temporal logic. This seminar will provide a gentle introduction to the basic and advanced features of PVS, including: theory interpretations, real number proving, batch proving, rapid prototyping, and strategy development. All these features are illustrated with simple examples and exercises.

César Muñoz↗
NASA NTRS2002

An Overview of the Runtime Verification Tool Java PathExplorer

We present an overview of the Java PathExplorer runtime verification tool, in short referred to as JPAX. JPAX can monitor the execution of a Java program and check that it conforms with a set of user provided properties formulated in temporal logic. JPAX can in addition analyze the program for concurrency errors such as deadlocks and data races. The concurrency analysis requires no user provided specification. The tool facilitates automated instrumentation of a program's bytecode, which when executed will emit an event stream, the execution trace, to an observer. The observer dispatches the incoming event stream to a set of observer processes, each performing a specialized analysis, such as the temporal logic verification, the deadlock analysis and the data race analysis. Temporal logic specifications can be formulated by the user in the Maude rewriting logic, where Maude is a high-speed rewriting system for equational logic, but here extended with executable temporal logic. The Maude rewriting engine is then activated as an event driven monitoring process. Alternatively, temporal specifications can be translated into efficient automata, which check the event stream. JPAX can be used during program testing to gain increased information about program executions, and can potentially furthermore be applied during operation to survey safety critical systems.

Havelund, Klaus↗
NASA NTRS2003

Rule-Based Runtime Verification

We present a rule-based framework for defining and implementing finite trace monitoring logics, including future and past time temporal logic, extended regular expressions, real-time logics, interval logics, forms of quantified temporal logics, and so on. Our logic, EAGLE, is implemented as a Java library and involves novel techniques for rule definition, manipulation and execution. Monitoring is done on a state-by-state basis, without storing the execution trace.

Barringer, Howard↗
NASA NTRS1991

Reasoning about real-time systems with temporal interval logic constraints on multi-state automata

Models of real-time systems using a single paradigm often turn out to be inadequate, whether the paradigm is based on states, rules, event sequences, or logic. A model-based approach to reasoning about real-time systems is presented in which a temporal interval logic called TIL is employed to define constraints on a new type of high level automata. The combination, called hierarchical multi-state (HMS) machines, can be used to model formally a real-time system, a dynamic set of requirements, the environment, heuristic knowledge about planning-related problem solving, and the computational states of the reasoning mechanism. In this framework, mathematical techniques were developed for: (1) proving the correctness of a representation; (2) planning of concurrent tasks to achieve goals; and (3) scheduling of plans to satisfy complex temporal constraints. HMS machines allow reasoning about a real-time system from a model of how truth arises instead of merely depending of what is true in a system.

Gabrielian, Armen↗
NASA NTRSDate not supplied

Minimum-Violation Traffic Management for Urban Air Mobility

Urban air mobility (UAM) refers to air transportation services in and over an urban area and has the potential to revolutionize mobility solutions. However, due to the projected scale of operations, current air traffic management (ATM) techniques are not viable. Increasingly autonomous systems are a pathway to accelerate the realization of UAM operations but must be fielded safely and efficiently. The heavily regulated, safety critical nature of aviation may lead to multiple, competing safety constraints that can be traded off based on the operational context. In this paper, we design a framework which allows for the scalable planning of a UAM ATM system. We formalize safety oriented constraints derived from FAA regulations by encoding them as temporal logic formulae. We then propose a method for UAM ATM that is both scalable and minimally violates the temporal logic constraints. Numerical results show that the runtime for our proposed algorithm is suitable for very large problems and is backed by theoretical guarantees of correctness with respect to given temporal logic constraints.

Urban Air Mobility↗
NASA NTRSDate not supplied

From Requirements to Autonomous Flight: An Overview of the Monitoring ICAROUS Project

The Independent Configurable Architecture for Reliable Operations of Unmanned Systems(ICAROUS) is a software architecture incorporating a set of algorithms to enable autonomous operations of unmanned aircraft applications. This paper provides an overview of Monitoring ICAROUS, a project whose objective is to provide a formal approach to generating runtime monitors for autonomous systems from requirements written in a structured natural language. This approach integrates FRET, a formal requirement elicitation and authoring tool, and Copilot, a runtime verification framework. FRET is used to specify formal requirements in structured natural language. These requirements are translated into temporal logic formulae. Copilot is then used to generate executable runtime monitors from these temporal logic specifications. The generated monitors are directly integrated into ICAROUS to perform runtime verification during flight.

Formal Methods↗
NASA NTRSDate not supplied

Monitoring ICAROUS: From Requirements to Autonomous Flight

The Independent Configurable Architecture for Reliable Operations of Unmanned Systems (ICAROUS) is a software architecture incorporating a set of algorithms to enable autonomous operations of unmanned aircraft applications. This paper provides an overview of Monitoring ICAROUS, a project whose objective is to provide a formal approach to generating runtime monitors for autonomous systems from requirements written in a structured natural language. This approach integrates FRET, a formal requirement elicitation and authoring tool, and Copilot, a runtime verification framework. FRET is used to specify formal requirements in structured natural language. These requirements are translated into temporal logic formulae. Copilot is then used to generate executable runtime monitors from these temporal logic specifications. The generated monitors are directly integrated into ICAROUS to perform runtime verification during flight.

Formal Methods↗
NASA NTRS2018

Efficient Runtime Verification of First-Order Temporal Properties

Runtime verification allows monitoring the execution of a system against a temporal property, raising an alarm if the property is violated. In this paper we present a theory and system for runtime verification of a first-order past time linear temporal logic. The first-order nature of the logic allows a monitor to reason about events with data elements. While runtime verification of propositional temporal logic requires only a fixed amount of memory, the first-order variant has to deal with a number of data values potentially growing unbounded in the length of the execution trace. This requires special compactness considerations in order to allow checking very long executions. In previous work we presented an efficient use of BDDs for such first-order runtime verification, implemented in the tool DEJAVU. We first summarize this previous work. Subsequently, we look at the new problem of dynamically identifying when data observed in the past are no longer needed, allowing to reclaim the data elements used to represent them. We also study the problem of adding relations over data values. Finally, we present parts of the implementation, including a new concept of user defined property macros.

Peled, Doron↗
NASA NTRS2007

A Method of Partly Automated Testing of Software

A method of automated testing of software has been developed that provides an alternative to the conventional mostly manual approach for software testing. The method combines (1) automated generation of test cases on the basis of systematic exploration of the input domain of the software to be tested with (2) run-time analysis in which execution traces are monitored, verified against temporal-logic specifications, and analyzed by concurrency-error-detection algorithms. In this new method, the user only needs to provide the temporal logic specifications against which the software will be tested and the abstract description of the input domain.

Lowry, Mike↗
NASA NTRS2020

Bridging the Gap Between Requirements and Model Analysis : Evaluation on Ten Cyber-Physical Challenge Problems

Formal verfication and simulation are powerful tools to validate requirements against complex systems. [Problem] Requirements are developed in early stages of the software lifecycle and are typically written in ambiguous natural language. There is a gap between such requirements and formal notations that can be used by verification tools, and lack of support for proper association of requirements with software artifacts for verification. [Principal idea] We propose to write requirements in an intuitive, structured natural language with formal semantics, and to support formalization and model/code verification as a smooth, well-integrated process. [Contribution] We have developed an end-to-end, open source requirements analysis framework that checks Simulink models against requirements written in structured natural language. Our framework is built in the Formal Requirements Elicitation Tool (fret); we use fret's requirements language named fretish, and formalization of fretish requirements in temporal logics. Our proposed framework contributes the following features: 1) automatic extraction of Simulink model information and association of fretish requirements with target model signals and components; 2) translation of temporal logic formulas into synchronous dataflow cocospec specifications as well as Simulink monitors, to be used by verification tools; we establish correctness of our translation through extensive automated testing; 3) interpretation of counterexamples produced by verification tools back at requirements level. These features support a tight integration and feedback loop between high level requirements and their analysis. We demonstrate our approach on a major case study: the Ten Lockheed Martin Cyber-Physical, aerospace-inspired challenge problems.

Mavridou, Anastasia↗
NASA NTRS2004

Meeting the Deadline: Why, When and How

A normative system is defined as any set of interacting agents whose behavior can usefully be regarded as norm-directed. Most organizations, and more specifically institutions, fall under this definition. Interactions in these normative systems are regulated by normative templates that describe desired behavior in terms of deontic concepts (obligations, prohibitions and permissions), deadlines, violations and sanctions. Agreements between agents, and between an agent and the society, can then be specified by means of contracts. Contracts provide flexible but verifiable means to integrate society requirements and agent autonomy. and are an adequate means for the explicit specification of interactions. From the society perspective, it is important that these contracts adhere to the specifications described in the model of the organization. If we want to automate such verifications, we have to formalize the languages used for contracts and for the specification of organizations. The logic LCR is based on deontic temporal logic. LCR is an expressive language for describing interaction in multi-agent systems, including obligations with deadlines. Deadlines are important norms in most interactions between agents. Intuitively, a deadline states that an agent should perform an action before a certain point in time. The obligation to perform the action starts at the moment the deadline becomes active. E.g. when a contract is signed or approved. If the action is not performed in time a violation of the deadline occurs. It can be specified independently what measure has to be taken in this case. In this paper we investigate the deadline concept in more detail. The paper is organized as follows. Section 2 defines the variant of CTL we use. In section 3, we discuss the basic intuitions of deadlines. Section 4 presents a first intuitive formalization for deadlines. In section 5, we look at a more complex model for deadlines trying to catch some more practical aspects. Finally, in section 6 we present issues for future work and our conciusions.

Dignum, Frank↗
NASA NTRSDate not supplied

A Temporal Differential Dynamic Logic Formal Embedding

Differential dynamic logic is a formal framework to specify and reason about hybrid programs (HPs). The core of dL is a proof calculus that contains a collection of axioms and rules for the rigorous verification of properties of HPs. Recently, dL has been embedded within the theorem prover Prototype Verification System (PVS) resulting in the tool Plaidypvs2. The integration of dL into PVS expands its expressive power; user defined functions, such as trigonometric and other transcendental functions, can be used inside the dL framework, and meta-reasoning about HPs can be performed, including reasoning about entire classes of HPs, specified using dependent types in PVS. The differential temporal dynamic logic (dTL2) extends dL with temporal logic operators to reason about all the states reachable during the execution of an HP. This paper presents a work in progress focusing on embedding dTL2 in PVS as an extension of Plaidypvs. Plaidypvs is expanded with the formalization of a trace semantics for HPs, the definition of the LTL temporal operators eventually and globally, and the implementation of the proof calculus for dTL2. This new embedding has the same capabilties as Plaidypvs, which allows user defined functions and meta-reasoning of properties of HPs. To the best of the authors’ knowledge this is the first implementation of dTL2.

differential dynamic logic↗