class SystemFailure(Tree):
tin_bot_failure = F('Tin Bot failure\n')
tin_bot_failure << (VictimLost.failure | IgnoreVictim.failure
| NoEscort.failure | Victim404.failure)
all_bad = F('all Tin Bots fail')
all_bad << (tin_bot_failure & tin_bot_failure.as_leaf())
failure = T('system failure\n(victim remains in maze)')
failure << all_bad
class Uncooperative(Tree):
with F('sender failure') as sender:
sender << (software_bug() | hw.Bluetooth.sender())
with F('receiver failure') as receiver:
receiver << (software_bug() | hw.Bluetooth.receiver())
design = P('protocol design failure (T2T)', failure_rate=0)
failure = T('uncooperative behavior\n(explores cells twice, ...)')
failure << (sender | receiver | hw.Bluetooth.medium() | design)
class Battery(Tree):
defect = P('primary battery defect', failure_rate=1e-8)
not_charged = S('battery not charged')
switch = P('primary power switch failure', failure_rate=0.5)
# Q: Why don't we include 'wiring'?
# A: Because that's already handled in things such as 'controller board' etc.
failure = F('power failure')
failure << (defect | not_charged | switch)
failure_no_switch = F('power failure')
failure_no_switch << (defect() | not_charged())
class Victim(Tree):
ir_led = P('primary IR LED failure', failure_rate=1e-5)
controller = P('primary microcontroller\nfailure', failure_rate=1e-12)
with F('circuit failure') as circuit:
transistor = P('primary transistor defect', failure_rate=1e-12)
resistor = P('primary resistor defect', failure_rate=1e-9)
circuit << (transistor | resistor)
failure = F('victim failure')
# Copy Battery.failure as it's a different battery
failure << (ir_led | controller | circuit | Battery.failure_no_switch)
class Raspberry(Tree):
board = P('primary hardware failure', failure_rate=1e-6)
os = P('operating system failure', failure_rate=2.94e-5)
external_module_bug = P('bug in\nexternal module', failure_rate=0)
internal_module_bug = P('bug in LPS software\n(blob recognition, ...)',
failure_rate=0)
software_failure = F('software failure')
software_failure << (os | external_module_bug | internal_module_bug)
failure = F('raspberry pi failure')
failure << (board | Power.failure | software_failure)
class StandingStill(Tree):
with F('no initial position from LPS') as no_initial_lps:
user = S('user did not\nenable LPS')
no_initial_lps << (proto.LPS.failure | user)
with F('wheels do not turn') as wheel_fault:
blocked = S('wheels blocked')
wheel_fault << (hw.Motor.failure | blocked)
bad_setup = S('bad setup')
software = software_bug()
failure = T('standing still')
failure << (no_initial_lps | bad_setup | software | wheel_fault
| hw.EPuck.failure | RunIntoWall.failure | Escort.hang)
class IgnoreVictim(Tree):
conflict = F('conflicting data\nabout victim')
conflict << (hw.EPuck.memory_fault() | S('user moved\nvictim')
| Uncooperative.failure.as_leaf())
late = P('too high min-distance\nfor sensing again', failure_rate=1e-4)
no_triang = F('triangulation fails')
no_triang << (late | software_bug())
overwrite = F('information gets overwritten\nbefore E-Puck picks it up')
overwrite << Uncooperative.design()
failure = T('not using information\nabout victim')
failure << (hw.ExtBoard.failure.as_leaf() | conflict | no_triang
| overwrite)
class LPS(Tree):
medium = hw.Bluetooth.medium
sender = hw.Raspberry.failure
receiver = hw.Bluetooth.receiver
with F('LPP link down') as link_down:
service_outage = S('simulated LPS\nservice outage (NR1)')
# Raspberry board failure includes Bluetooth sender failure
link_down << (service_outage | medium | receiver)
with F('LPS sends no data') as no_data:
no_data << (CBP.failure | sender)
failure = F('LPP failure')
failure << (link_down | no_data)
class VictimLost(Tree):
with F('victim dropped / unable to grab') as dropped:
magnet_weak = P('primary magnet failure\n(e.g., too weak)', 1e-5)
belt_weak = P('primary belt failure\n(magnet slips out of the belt)',
1e-1)
# Your magnet is weak, your belt is weak, your bloodline is
# weak, and you will *not* survive winter!
dropped << (belt_weak | magnet_weak)
pulled_away = F('pulled away by\nanother Tin Bot')
pulled_away << (Escort.unintentional | Uncooperative.failure.as_leaf())
failure = T('victim lost while escorting')
failure << (pulled_away | dropped)
class Power(Tree):
supply = P('faulty power supply', failure_rate=1e-6)
grid = P('electricity grid outage', failure_rate=2.25e-5)
wiring = S('power not\nconnected')
failure = F('power supply failure')
failure << (supply | grid | wiring)
class CBP(Tree):
medium = S(
'environment failure (not enough light,\nno clear line of sight, ...)')
sender = S('missing color blob')
receiver = hw.Camera.failure
failure = F('color blob\nprotocol failure')
failure << (medium | sender | receiver)
class Bluetooth(Tree):
sender = P('bluetooth module failure\n(sender)', failure_rate=1e-5)
receiver = P('bluetooth module failure\n(receiver)', failure_rate=1e-5)
medium = P('medium failure\n(noise, interference, ...)', failure_rate=1e-3)
failure = F('bluetooth communication failure')
failure << (medium | sender | receiver)
class EscortNoLED(Tree):
led = P('primary indicator LED failure', failure_rate=1e-5)
with F('not aware of escorting') as not_aware:
not_aware << (hw.EPuck.memory_fault() | Escort.unintentional)
failure = T('escorting, but\nno LED indication')
failure << (led | not_aware | software_bug())
class NoEscort(Tree):
indirect = F('taking a detour during escort')
indirect << (Uncooperative.failure.as_leaf() | hw.Motor.failure()
| hw.EPuck.memory_fault())
failure = T(
'not moving the victim out;\nat least not on shortest known path')
failure << (StandingStill.failure | Escort.unintentional.as_leaf()
| indirect)
class Victim404(Tree):
not_placed_in = S('user did not place\nthe victim in the maze')
unsolvable = S('unsolvable maze')
rhr_hangs = F('right-hand follower\ndrives in circles')
rhr_hangs << (P('right-hand follower\ncan drive in circles',
failure_rate=inf) & P('path-pruning fails', failure_rate=0)
& S('maze is not\n1-outerplanar'))
drift = F('lost orientation')
drift << (proto.LPS.failure
& P('approximation algorithm\nis way off', failure_rate=1e-3)
& P('drift from real orientation\ndoes not stabilize',
failure_rate=1e-5))
failure = T('victim cannot be found')
failure << (VictimSilent.failure | proto.SOS.receiver() | rhr_hangs | drift
| not_placed_in | unsolvable)
class SpuriousMovements(Tree):
turn = F('does not\nstop turning\nwhile sensing\nangle to victim')
turn << (VictimSilent.failure.as_leaf() | hw.ExtBoard.failure)
badcolor = S("Tin Bot's physical color\nis not hardcoded color")
failure = T('spurious movements\n(e.g., spin around, drive circles, ...)')
failure << (proto.LPS.failure.as_leaf() | software_bug() | badcolor
| Proximity.failure() | Uncooperative.failure.as_leaf() | turn)
class ExtBoard(Tree):
board = P('primary circuit failure', failure_rate=1e-10)
controller = P('primary microcontroller\nfailure', failure_rate=1e-12)
ir_sensor = P('primary IR\nsensor defect', failure_rate=1e-5)
i2c = P('primary I2C\nbus failure', failure_rate=1e-5)
failure = F('extension board failure')
failure << (i2c | board | controller | ir_sensor)
class EPuck(Tree):
board = P('primary controller board failure', failure_rate=1e-10)
controller = P('primary controller failure', failure_rate=1e-12)
not_turned_on = S('user did not turn\non the E-Puck')
memory_fault = P('memory fault', failure_rate=1e-11)
failure = F('E-Puck failure')
failure << (board | controller | Battery.failure | not_turned_on
| memory_fault)
class SOS(Tree):
medium = P('primary medium failure\n(interference, ...)',
failure_rate=1e-4)
sender = hw.Victim.failure.as_leaf()
# extension board failure includes WAU failure
receiver = hw.ExtBoard.failure.as_leaf()
failure = F('SOS failure')
failure << (medium | sender | receiver)
class Escort:
rec_sw = P('recognition method fails', 1e-3)
recognition = F('escort recognition fails')
recognition << (rec_sw | proto.SOS.failure)
magnet_trigger_acc = P('magnets unintentionally\nmade contact',
failure_rate=1e-5)
hang = F(
'picked up victim\nthrough the wall\n(paper does not shield magnetic fields)'
)
hang << (magnet_trigger_acc & Proximity.sparse_walls())
open_space = F('picked up victim\nwith physical contact')
open_space << (Proximity.false_negative & recognition
& magnet_trigger_acc())
unintentional = F('picking up the victim\nwas accidental')
# hang is best instantiated for "standing still"
unintentional << (hang.as_leaf() | open_space)
class Proximity:
failure = P('primary proximity\nsensor fault', failure_rate=1e-1)
sparse_walls = S('walls do not\nmeet requirements')
software = P('software failure\n(overzealous escort-ignoring)',
failure_rate=1e-3)
false_negative = F('obstacle\nnot detected')
false_negative << (failure | sparse_walls | software)
crash_rhr = P('RHR crashes\ninto wall', failure_rate=1e-1)
crash_path = P('path follower crashes\ninto wall', failure_rate=1e-2)
crash_some = F('some component crashes\ninto wall')
crash_some << (crash_rhr | crash_path)
avoid_dog = P('avoidance watchdog fails', failure_rate=0)
avoid_sys = F('avoidance system fails')
avoid_sys << (avoid_dog & crash_some)
collision = F('collision with obstacle')
collision << (avoid_sys | false_negative)
