UxAS on sel4. John Backes, Rockwell Collins Dan DaCosta, Rockwell Collins
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1 UxAS on sel4 John Backes, Rockwell Collins Dan DaCosta, Rockwell Collins
2 What is UxAS? UxAS: Unmanned Systems Autonomy Services Collection of software modules that interconnect to automate mission-level decision making Task assignment Cooperative control Sensor steering Used to conduct experiments and demonstrations of cooperative control and human-machine teaming Services are deployed across multiple entities Task/Service Modeling 2
3 What would we like to prove about UxAS? Task/Service Modeling 3
4 What would we like to prove about UxAS? Safety properties Services do not throw exceptions Services implement their formal specification The vehicle stays within a safe flight envelope Multiple vehicles maintain safe separation Task/Service Modeling 3
5 What would we like to prove about UxAS? Safety properties Services do not throw exceptions Services implement their formal specification The vehicle stays within a safe flight envelope Multiple vehicles maintain safe separation Quality of service properties Messages are processed and delivered in a timely manner Task/Service Modeling 3
6 What would we like to prove about UxAS? Safety properties Services do not throw exceptions Services implement their formal specification The vehicle stays within a safe flight envelope Multiple vehicles maintain safe separation Quality of service properties Messages are processed and delivered in a timely manner Security properties Services cannot alter each other s state except through defined channels Only trusted commands are executed Services do not consume resources not allocated to them Task/Service Modeling 3
7 What would we like to prove about UxAS? Safety properties Services do not throw exceptions Services implement their formal specification The vehicle stays within a safe flight envelope Multiple vehicles maintain safe separation Quality of service properties Messages are processed and delivered in a timely manner Security properties Services cannot alter each other s state except through defined channels Only trusted commands are executed Services do not consume resources not allocated to them Task/Service Modeling 3
8 Problems with initial UxAS Task/Service Modeling 4
9 Problems with initial UxAS Services/Tasks written in C++ Not type safe and difficult to reason about formally Task/Service Modeling 4
10 Problems with initial UxAS Services/Tasks written in C++ Not type safe and difficult to reason about formally Services/Tasks are dispatched sporadically with no bounds on IAT Task/Service Modeling 4
11 Problems with initial UxAS Services/Tasks written in C++ Not type safe and difficult to reason about formally Services/Tasks are dispatched sporadically with no bounds on IAT Framework all runs on Linux (there are bugs) Task/Service Modeling 4
12 Problems with initial UxAS Services/Tasks written in C++ Not type safe and difficult to reason about formally Services/Tasks are dispatched sporadically with no bounds on IAT Framework all runs on Linux (there are bugs) All Services/Tasks run as threads within the same memory space Task/Service Modeling 4
13 Baseline UxAS Architecture All Services/Tasks run in untrusted Linux OS All Services/Tasks have equal priority and criticality ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION WAYPOINT MANAGER POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX Task/Service Modeling 5
14 Baseline UxAS Architecture All Services/Tasks run in untrusted Linux OS All Services/Tasks have equal priority and criticality ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION WAYPOINT MANAGER POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX Task/Service Modeling 5
15 Baseline UxAS Architecture All Services/Tasks run in untrusted Linux OS All Services/Tasks have equal priority and criticality ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION WAYPOINT MANAGER POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX Task/Service Modeling 5
16 Baseline UxAS Architecture All Services/Tasks run in untrusted Linux OS All Services/Tasks have equal priority and criticality ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION WAYPOINT MANAGER POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX Task/Service Modeling 6
17 Baseline UxAS Architecture All Services/Tasks run in untrusted Linux OS All Services/Tasks have equal priority and criticality ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION WAYPOINT MANAGER POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX Task/Service Modeling 6
18 Baseline UxAS Architecture All Services/Tasks run in untrusted Linux OS All Services/Tasks have equal priority and criticality ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION WAYPOINT MANAGER POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX Task/Service Modeling 6
19 Possible Solutions to fix UxAS Task/Service Modeling 7
20 Possible Solutions to fix UxAS Change how Services/Tasks are dispatch so system is schedulable Task/Service Modeling 7
21 Possible Solutions to fix UxAS Change how Services/Tasks are dispatch so system is schedulable Prove correctness of all UxAS Services/Tasks Task/Service Modeling 7
22 Possible Solutions to fix UxAS Change how Services/Tasks are dispatch so system is schedulable Prove correctness of all UxAS Services/Tasks Prove isolation and correctness of critical tasks so UxAS can meet minimal QoS Task/Service Modeling 7
23 Possible Solutions to fix UxAS Change how Services/Tasks are dispatch so system is schedulable Middleware group did this Prove correctness of all UxAS Services/Tasks Prove isolation and correctness of critical tasks so UxAS can meet minimal QoS Task/Service Modeling 7
24 Possible Solutions to fix UxAS Change how Services/Tasks are dispatch so system is schedulable Middleware group did this Prove correctness of all UxAS Services/Tasks Plausible with significant effort Prove isolation and correctness of critical tasks so UxAS can meet minimal QoS Task/Service Modeling 7
25 Possible Solutions to fix UxAS Change how Services/Tasks are dispatch so system is schedulable Middleware group did this Prove correctness of all UxAS Services/Tasks Plausible with significant effort Prove isolation and correctness of critical tasks so UxAS can meet minimal QoS This is what we worked on Task/Service Modeling 7
26 Key Technologies The sel4 Microkernel Formally verified microkernel maintained by Data61 Proof is from HOL specification down to the assembly Provides formally proven isolation between components Can be used as a hypervisor to host guest OS Requires specific x86 or ARM instruction sets Isabelle/HOL and AutoCorres Isabelle/HOL is an interactive theorem prover AutoCorres is an Isabelle/HOL extension that provides a framework for reasoning about C programs Task/Service Modeling 8
27 Key Technologies Task/Service Modeling 9
28 Key Technologies OSATE Trusted Build Resolute Assurance Case AGREE Behavioral Analysis SIM Architecture Models Architecture Translation Simulator Architecture Analysis A Assumption: Input < 20 Guarantee: Output < 2Input C Assumption: none Guarantee: Output = Input1 + Input2 B sel4 echronos Assumption: Input < 20 Assumption: Input < 10 Guarantee: Output < Input + 15 Guarantee: Output < 50 Kind/JKind Task/Service Modeling 9
29 Key Technologies OSATE Trusted Build Resolute Assurance Case AGREE Behavioral Analysis SIM Architecture Models Architecture Translation Simulator Architecture Analysis A Assumption: Input < 20 Guarantee: Output < 2Input C Assumption: none Guarantee: Output = Input1 + Input2 B sel4 echronos Assumption: Input < 20 Assumption: Input < 10 Guarantee: Output < Input + 15 Guarantee: Output < 50 Kind/JKind Task/Service Modeling 9
30 UxAS + sel4 Architecture ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION WAYPIONT MANAGER POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX Task/Service Modeling 10
31 UxAS + sel4 Architecture ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION WAYPIONT MANAGER POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX SEL4 Task/Service Modeling 10
32 UxAS + sel4 Architecture ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION WAYPIONT MANAGER POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX SEL4 Task/Service Modeling 10
33 UxAS + sel4 Architecture ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX SEL4 Task/Service Modeling 10
34 UxAS + sel4 Architecture ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX WAYPOINT MANAGER SEL4 Task/Service Modeling 10
35 UxAS + sel4 Architecture All Services/Tasks run in untrusted Linux Virtual Machine on top of sel4 Critical services run as isolated native sel4 Services/Tasks ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX WAYPOINT MANAGER SEL4 Task/Service Modeling 10
36 UxAS + sel4 Architecture All Services/Tasks run in untrusted Linux Virtual Machine on top of sel4 Critical services run as isolated native sel4 Services/Tasks ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX WAYPOINT MANAGER SEL4 Task/Service Modeling 11
37 UxAS + sel4 Architecture All Services/Tasks run in untrusted Linux Virtual Machine on top of sel4 Critical services run as isolated native sel4 Services/Tasks ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX WAYPOINT MANAGER SEL4 Task/Service Modeling 11
38 UxAS + sel4 Architecture All Services/Tasks run in untrusted Linux Virtual Machine on top of sel4 Critical services run as isolated native sel4 Services/Tasks ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX WAYPOINT MANAGER SEL4 Task/Service Modeling 11
39 AADL Specification Task/Service Modeling 12
40 AADL Specification Component Features Task/Service Modeling 12
41 AADL Specification Component Features Component Instances Task/Service Modeling 12
42 AADL Specification Component Features Component Instances Component Connections Task/Service Modeling 12
43 AADL Specification Component Features Component Instances Component Connections Component Configuration Task/Service Modeling 12
44 Demonstration Launch attack against UxAS Kill UxAS process Exhaust all resource in Linux Simulates malicious adversary Simulates latent bug in UxAS Service Task/Service Modeling 13
45 Demonstration Launch attack against UxAS Kill UxAS process Exhaust all resource in Linux Simulates malicious adversary Simulates latent bug in UxAS Service Demonstrate that system still maintains minimal QoS The waypoint manager continues to deliver waypoints to the autopilot Task/Service Modeling 13
46 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
47 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
48 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
49 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
50 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
51 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
52 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
53 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
54 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
55 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
56 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
57 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
58 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
59 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
60 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
61 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
62 Demonstration Mission Computer (sel4) Linux Virtual Machine Waypoint Serial Bus Comm Plan Assign FCC Route Planner Payload Asset Task/Service Modeling 14
63 Demonstration Mission Computer (sel4) Waypoint Serial Bus FCC Asset Task/Service Modeling 14
64 Demonstration Mission Computer (sel4) Waypoint Serial Bus FCC Asset Task/Service Modeling 14
65 Demonstration Mission Computer (sel4) Waypoint Serial Bus FCC Asset Task/Service Modeling 14
66 Demonstration Mission Computer (sel4) Waypoint Serial Bus FCC Asset Task/Service Modeling 14
67 Demonstration Mission Computer (sel4) Waypoint Serial Bus FCC Asset Task/Service Modeling 14
68 Demonstration Mission Computer (sel4) Waypoint Serial Bus FCC Asset Task/Service Modeling 14
69 Demonstration Mission Computer (sel4) Waypoint Serial Bus FCC Asset Task/Service Modeling 14
70 Demonstration Mission Computer (sel4) Waypoint Serial Bus FCC Asset Task/Service Modeling 14
71 Verification of Waypoint The purpose of the Waypoint is to send subsets of the mission s waypoints to the flight control computer Correctness means: The component never sends more waypoints than the autopilot can handle The component sends the next N waypoints whenever the autopilot reaches waypoint N/2 Task/Service Modeling 15
72 Verification of Waypoint The purpose of the Waypoint is to send subsets of the mission s waypoints to the flight control computer Correctness means: The component never sends more waypoints than the autopilot can handle The component sends the next N waypoints whenever the autopilot reaches waypoint N/2 Task/Service Modeling 15
73 Arguments for Task/Services and sel4 Argument Purpose: Examine ability of UxAS to return home Under normal behavior and failure Provide rationale/organization for benefits of sel4 Decomposed target UxAS service goal into sub-claims based on architectural components Virtual machine (VM) running tasks Waypoint manager (WM) running on sel4 kernel with VM Connection to Autopilot Autopilot running independently Task/Service Modeling 16
74 Future changes to architecture ROUTE PLANNER ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX WAYPOINT MANAGER SEL4 Task/Service Modeling 17
75 Future changes to architecture ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA OVERWATCH PERSISTENT ISR UTILITIES: TIMING, LOGGING, CONVERSIONS, FABRIC: ZEROMQ, CMASI LINUX WAYPOINT MANAGER SEL4 Task/Service Modeling 17
76 Future changes to architecture ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA UTILITIES: TIMING, LOGGING, CONVERSIONS, OVERWATCH PERSISTENT ISR ROUTE PLANNER FABRIC: ZEROMQ, CMASI WAYPOINT LINUX MANAGER SEL4 Task/Service Modeling 17
77 Future changes to architecture ASSIGNMENT OPT ZYRE: EXTERNAL COOPERATION POINT LINE AREA UTILITIES: TIMING, LOGGING, CONVERSIONS, OVERWATCH PERSISTENT ISR ROUTE PLANNER FABRIC: ZEROMQ, CMASI WAYPOINT LINUX MANAGER SEL4 Task/Service Modeling 17
78 Future changes to architecture ZYRE: EXTERNAL COOPERATION POINT LINE AREA UTILITIES: TIMING, LOGGING, CONVERSIONS, OVERWATCH PERSISTENT ISR ROUTE PLANNER FABRIC: ZEROMQ, CMASI WAYPOINT LINUX MANAGER SEL4 Task/Service Modeling 17
79 Future changes to architecture ZYRE: EXTERNAL COOPERATION POINT LINE AREA UTILITIES: TIMING, LOGGING, CONVERSIONS, OVERWATCH PERSISTENT ISR ASSIGNMENT OPT ROUTE PLANNER FABRIC: ZEROMQ, CMASI WAYPOINT LINUX MANAGER SEL4 Task/Service Modeling 17
80 Future changes to architecture ZYRE: EXTERNAL COOPERATION POINT LINE AREA UTILITIES: TIMING, LOGGING, CONVERSIONS, OVERWATCH PERSISTENT ISR ASSIGNMENT OPT ROUTE PLANNER FABRIC: ZEROMQ, CMASI WAYPOINT LINUX MANAGER SEL4 Task/Service Modeling 17
81 What would we like to prove about UxAS? Safety properties Services do not throw exceptions Services implement their formal specification The vehicle stays within a safe flight envelope Multiple vehicles maintain safe separation Quality of service properties Messages are processed and delivered in a timely manner Security properties Services cannot alter each other s state except through defined channels Only trusted commands are executed Services do not consume resources not allocated to them Task/Service Modeling 18
82 What would we like to prove about UxAS? Safety properties Services do not throw exceptions Services implement their formal specification The vehicle stays within a safe flight envelope Multiple vehicles maintain safe separation Quality of service properties Messages are processed and delivered in a timely manner Security properties Services cannot alter each other s state except through defined channels Only trusted commands are executed Services do not consume resources not allocated to them Task/Service Modeling 18
83 What would we like to prove about UxAS? Safety properties Services do not throw exceptions Services implement their formal specification The vehicle stays within a safe flight envelope Multiple vehicles maintain safe separation Quality of service properties Messages are processed and delivered in a timely manner Security properties Services cannot alter each other s state except through defined channels Only trusted commands are executed Services do not consume resources not allocated to them Task/Service Modeling 18
84 What would we like to prove about UxAS? Safety properties Services do not throw exceptions Services implement their formal specification The vehicle stays within a safe flight envelope Multiple vehicles maintain safe separation Quality of service properties Messages are processed and delivered in a timely manner Security properties Services cannot alter each other s state except through defined channels Only trusted commands are executed Services do not consume resources not allocated to them Task/Service Modeling 18
85 Questions? Find links to project description, code, and other research at: loonwerks.com Task/Service Modeling 19
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