Dependency Modelling Using Fault Tree Analysis by xpj11142


									          From the Proceedings of the 17th International System Safety Conference (August 1999)

                              Dependency Modelling Using Fault Tree Analysis

           J.D. Andrews, PhD; Department of Mathematical Sciences, Loughborough University, England
                J.B. Dugan, PhD; Department of Electrical Engineering, University of Virginia, USA

   Keywords; fault tree analysis, dependency, reliability, availability, Markov methods, binary decision

                     Abstract                            commonly based on the Kinetic Tree Theory of
                                                         Veseley [1]. Kinetic Tree Theory was developed
This paper describes the use of the fault tree           in the early 1970’s at a time when the pioneering
method to model the failure probability of               work in systems reliability was being performed.
systems that feature dependencies. Our method            One of the main assumptions of this modelling
is presented by illustrating its application to an       technique is that the basic events occur
example safety system taken from the offshore            independently. In the last decade there has been
industry. Despite the dependencies the                   a significant increase in the complexity of high
representation of the system failure logic retains       technology system designs. A feature of many of
the fault tree structure by utilising a new gate set.    these modern systems is that they are software
The analysis of the dependent parts of the system        controlled and the failure events may exhibit
is performed by software in a manner, which is           some form of dependency. For the analysis
totally transparent to the analyst.         Markov       techniques to remain relevant to the modern
methods are employed to solve the dynamic,               systems their development must keep pace with
dependent sections of the fault tree and Binary          those made in the systems technology. Several
Decision Diagrams to solve the static fault tree         recent publications have appeared which deal
sections. It may be necessary to alternate               with the research performed in extending the
between the two analysis methods several times           traditional fault tree analysis method to
to solve the complete fault tree structure.              incorporate dependencies [2],[3],[4],[5].

                   Introduction                          The approach adopted to incorporate dependency
                                                         modelling has retained the fault tree structure and
Over the last two decades, Fault Tree Analysis           introduced a new gate set which will enable the
has become an established tool used to assess the        dependent sections of the tree structure to be
likelihood of failure of industrial systems. It is       identified and the exact nature of the dependency
particularly well utilised for the assessment of         to be specified. Such gates are described in the
safety systems whose failure can cause fatalities        sections below. The analysis of such a tree
or have excessive financial penalties. The               would then be performed by transforming the
popularity of the method is due to the ease in           dependent sections of the fault tree to equivalent
which the system failure causality is represented        Markov state transition diagrams. Construction
in a logic tree diagram which increases in its           and analysis of the Markov diagrams is then
resolution as the diagram develops until terminal        performed by the analysis software in a manner
branch events which represent component                  which is totally transparent to the analyst. Once
failures, software errors or human actions are           analysed to produce either the probability or
encountered. This form of diagram, whilst                frequency of the intermediate level fault tree
representing a mathematical logic equation,              events, the results of the Markov assessments
provides a concise, documented means of                  would be incorporated back into the original fault
representing the fault propagation through the           tree structure. This process would be continued
engineering system. There are therefore                  until a static, independent fault tree structure
advantages in retaining the basic fault tree             remains which could then be analysed by
structure to develop causes of system failure,           traditional fault tree techniques or the more
whilst extending its analytical capabilities.            recent Binary Decision Diagram (BDD)
                                                         methods[6],[7],[8]. Dependent upon the system
Usually the analysis is performed using one of           structure it may at times be necessary to conduct
the many commercially available computer                 the analysis in an alternating BDD / Markov
software packages. The method used in the                process to achieve the final results. An example
packages to perform the calculations is                  of such a system, a water deluge system on an

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offshore platform, is presented in this paper                             maintained by a jockey pump (not shown in the
along with a description of its analysis.                                 figure). When the take-off valves open and water
                                                                          is delivered to the spray nozzles the ringmain
   Safety System Description (Water Deluge                                pressure will drop.      Ringmain pressure is
                  System)                                                 monitored and transmitted to the computer
                                                                          control system by the three pressure transmitters
The water deluge system used to illustrate the                            (PS1-PS3). When two of the three transmitters
dependency methodology is shown in figure 1.                              indicate a low ringmain pressure the main pumps
Whilst this particular system is an example taken                         are activated in the order indicated from top to
from the offshore industry its features are typical                       bottom of the diagram (ie. EP1, EP2, DP1, DP2).
of water spray systems used in many different                             As long as two pumps are available then water
onshore industries. Four pumps are used to                                can be delivered at the required rate to satisfy
provide the water demand to the ringmain. The                             demand. Four pumps provide redundancy in the
ringmain transports the water around the                                  system. Pumps 1 and 2 are electric powered and
platform to the take-off points where it is used to                       pumps 3 and 4 are the diesel backups.
protect against the hazards posed by hydrocarbon
fires and explosions. Pressure in the ringmain is

                             Power                                                                    PS1

                                                                             Test Valve
                               (ep)            P ressure Relief Val ve

               Filter                       EP1
                        IS OL22 Val ve                    I SOL11 Valve
                                                                               Test Valve

                                               P ressure Relief Val ve

               Filter                       EP2
                        IS OL22 Val ve                    I SOL12 Valve

                                                                               Test Valve

                               (dp)            P ressure Relief Val ve

               Filter                       DP1
                        IS OL23 Val ve                    I SOL13 Valve
                                                                               Test Valve

                                               P ressure Relief Val ve

               Filter                       DP2
                        IS OL24 Val ve                    I SOL14 Valve

                                Computer Control

                    Figure 1 - Schematic representation of the deluge system pump streams
The features on each pump stream are identical.             on each line enables individual pumps to be
As the water supply is direct from the sea a filter         tested without fully activating the deluge system.
is fitted on each stream. Manual isolation valves
are located for maintenance purposes located                There are two failure modes of concern for each
either side of the pump. A pressure relief valve            stream, the first is that it fails to start
provides protection for the pump and a test valve           (unavailable) and the second is that it fails once

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running (unreliable). If a pump stream activates        fault tree model showing the failure of the
on demand it means that the filter, isolation           computer system is shown in figure 2, in which
valves, test valve and pressure relief valve which      the basic events represent hardware (processors),
are all (for this function) passive components are      software and the sensor set.
in the working condition. As they are passive
they are unlikely to fail in the relatively short       Each basic event is characterized by information
running times if they work initially. These are         giving the probability of failure (either as a
static failure modes. The pump is however is a          distribution or as a fixed probability) and the
dynamic component and can also fail once                probability that a given fault is covered (or
running.                                                uncovered).

System failure will occur if fewer than two of the      Next consider the pump system, consisting of the
four streams can be activated (ie 3 from 4 fail)        four pumps, their power sources (two are electric
for the required duration (12 hours)                    and two are diesel) and their pump streams
                                                        (associated valves and filters). For now,
   Fault tree model of example safety system
Let us consider the two parts of the system
separately when building the fault tree model.
That is, we will first consider the computer
control system and then consider the pump
system. As we analyse this system, we will                                            Both                           2 out of 3
                                                                                processing units                    sensors fail
describe the dependencies that must be modelled,                                       fail

and describe special gates which incorporate                                                                             K
these dependencies into the fault tree analysis.                                                                             M

The computer control system consists of the                                                                            sensors

three pressure sensors (of which 2 are needed),                 Primary fails                        Hot spare
plus the hardware and the software.           The
hardware consists of redundant processors in hot
standby mode, each equipped with identical
software. While the spare processor is in spare
                                                              HW1        SW1                       HW2      SW2
mode, it is monitoring the inputs and outputs of
the primary, in order to provide detection and
recovery in case of error. When an error is                Figure 2 Computer system failure fault tree
detected, control is switched to the backup
processor. The computer control system can thus         let us ignore the pump streams and power
tolerate a single (detected) hardware or software       supplies, and concentrate on the four pumps.
failure. However, an undetected error causes
failure of the computer subsystem regardless of         The set of four pumps operate in standby
the state of the backup.         This latter case       redundancy in that the two electric pumps are
(undetected error) is an example of an uncovered        started first, and the diesel pumps provide
fault, which leads to immediate system failure.         replacements when the electric pumps are
Another example of an uncovered fault is a              unavailable. On demand, pumps EP1 and EP2
software fault which affects both processors            are turned on. If one of these two should fail, it
simultaneously.      One might expect, since the        is replaced by DP1. The second pump failure is
software on both processors is identical, that all      replaced by pump DP2.             This dynamic
software faults would affect both processors.           redundancy scheme introduces dependencies
However, there is field data to support the             between the failures and requires special
assumption that a large percentage of software          modeling techniques. A pump which is in use
faults will affect only a single processor[10].         experiences a different failure rate than one in
Modeling uncovered faults is crucial to the             standby. Therefore, we need to keep track of
analysis of a fault tolerant computer system, and       which pumps are being used and which are in
is discussed in more detail in [7] and [9]. A           standby. We use a spare gate to model the

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failure dependencies which arise from the use of        returns true when the primary and the spares
spares.                                                 have been exhausted. Basic events representing
                                                        spares have failure rates, coverage factors and
A spare gate is one of several dynamic gates            dormancy factors.
introduced in [9] and it is used to model several
dependencies associated with the use of spares.         Continuing to ignore the power supplies and
First, a component which is used as a spare has         pump streams, the fault tree in figure 3 models
an associated dormancy factor (between zero and         the pumps and their spares. The pump system
one inclusive) which is a multiplicative factor of      fails when there are no longer two available
the active failure rate to produce the spare failure    pumps (thus the OR gate with two inputs). The
rate. If the dormancy factor is zero, the spare is      basic events represent the two electric pumps,
said to be a cold spare; a cold spare cannot fail       which are both initially active (on demand). The
before being switched into active operation             two diesel pumps (DP1 and DP2) are pooled
(failure to activate is modeled as an uncovered         spares shared by both electric pumps. The first
failure). If the dormancy factor is unity, then the     electric pump failure is replaced by DP1 and the
spare is said to be a hot spare and can fail at the     second by DP2. Note that if EP2 preferred to be
same rate as when active. The in between                replaced by DP2 then we could switch order the
situation is referred to as a warm spare; a warm        DP1 and DP2 inputs on the second spare gate.
spare can fail before switched into active
operation, but does so at a lower rate than when        Next let us consider the power supplies. There is
active.                                                 an electrical power supply for pumps EP1 and
                                                        EP2 and a diesel supply for DP1 and DP2. If a
The second dependency handled by the spare              power supply fails, then the associated pumps are
gate is the use of pooled spares, which are spares      unavailable (essentially failed). This type of
that can be used as a replacement for whichever         functional dependency of one component on
of a set of components fails first. Modeling            another is easily modeled with a functional
pooled spares requires us to keep track of not          dependency gate [11].              The functional
only the state of each component, but also the          dependency gate has a trigger input and one or
order in which they have failed, so that we can         more dependent inputs; when the event
determine which spare is being used where.              associated with the trigger input occurs, the
Further, it might be the case that components           dependent inputs are then forced to occur. The
have preferences for replacements, in that there is     functional dependency gate can be used to model
an priority or order in which spares are utilized.      the functional dependence of the pumps on the
This order may well be different for different          power supplies : the power supply is the trigger
components.                                             event and the two pumps are the dependent
                                                        events. The fault tree in figure 4 adds the
The spare gate has a set of at least two inputs, the    functional dependency to the fault tree in figure
first (leftmost) of which is the designated             3. The functional dependency gate produces no
primary, and the second and subsequent (from            output other then the propagation of failures. For
left to right) are the spares. When the primary         this reason it is connected via a dashed line to the
fails, it is replaced (in order) by the spares which    rest of the fault tree.
are still available (i.e. not failed and not used
elsewhere). The single output of the spare gate

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                                                            Pu mp

                      Sp are structure                                            Sp are structure
                        for Pump 1                                                  for Pump 2

                     WSP                                                         WSP

                     Ele ctri c                                                  Ele ctri c
                     Pump 1                                                      Pump 2

                                         Die sel           Die sel
                                         Pump 1            Pump 2

                                           Figure 3 Pump system fault tree structure

An interesting aspect of the model is the                            chain is needed for analysis. The Markov chain
inclusion of the pump streams (by which we                           which is used to solve this system must account
mean the isolation valves, the pressure relief                       for not only the pumps and power supplies, but
valves, the test valves and the filter). The pump                    also for every valve and filter in each channel.
streams provide support for the pumps and need                       Since the number of states in a Markov grows
to be operational in order for the pump to be                        exponentially with the number of components
utilized. We have used two different approaches                      being considered, the resulting model can be
to including the pump streams, and will describe                     quite large. Further, since the pump streams are
these approaches in turn. First, we can use the                      unlikely to fail once the pump is running, it is not
functional dependency gate to model the                              necessary to model each filter and valve in such
dependence of each pump on the associated                            detail. It is sufficient to know whether the stream
pump stream. Figure 5 shows a fault tree model                       is operational on demand.
for a stream, and the functional dependency of
the pump on the pump stream. In the full fault                       In [2], an approach is developed for separating
tree model, there are then 4 such constructs, one                    the static analysis of the pump stream from the
for each pump and stream configuration.                              dynamic analysis of the pumps themselves. The
                                                                     probability that the stream is available on
The advantage of this approach is that it is simple                  demand is determined for each stream, and these
to describe and can be solved using Galileo (a                       probabilities are used to determine the initial
software tool for dynamic fault tree analysis)                       state probabilities for the Markov analysis of the
[12], but the disadvantage is that a large Markov                    pumps and power supplies.

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                                                                                                                 Pum  p

                                                       Spare structure                                        Elect ric pumps                Spare st ruct ure
                                                         for Pump 1                                                                            for Pump 2
                                                                                                               need power

                                                                                         Elect ric
                                                       WSP                               power                 F DEP                         WSP
                          Di esel pumps
                           need power
                                                       El ectri c                                                                            Elect ric
           Power           FDEP                        Pump 1                                                                                    p
                                                                                                                                             Pum 2

                                                                                    Pump 1

                                                                                                               Pump 2

                                             Figure 4 Detailed Pump system fault tree

                                                                                                                        Pump stream
                                                                                                                       failure causes
                                                                                                                        pump failure

                                                                                     Pump stream


                                                                    failure                                          Filter

                                           Isolation                                      Relief or
                                             valve                                       test valve
                                              fails                                         fails

                               Isolation               Isolation                                      Test
                                Valve 1                 Valve 2                                       valve

                                        Figure 5 Pump Stream Fault Tree
                    Analysis Process                       the failure of the pumping system (Figures 4 and
                                                           5 – the functional dependencies modelled in the
The final fault tree for the failure of the pumping        figure 5 fault tree feed into the four pump failure
system has a top event whose cause is given by             events in figure 4). The procedure for analysis
the failure of the computer system (figure 2) OR           first involves identifying the modules of the tree

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which have dependencies and those which are                basic events with functional dependencies and
independent. A bottom up analysis scheme is                will therefore require a Markov assessment. The
then implemented where the lowest level                    Markov model has been listed as a table (Table
modules are analysed using the appropriate                 1) for clarity. The first column represents the
technique (BDD’s for independent sections and              state number, the remaining columns identify the
Markov models for dependencies) and the results            status of each pump, coded as W for working, S
fed into the analysis of the higher level sections.        for standby and F for failed. The status thus
This is performed as an alternating sequence of            indicated is at the start of the pumping process.
BDD and Markov models until the results for the            The failure status for a pump is therefore caused
top event are obtained.                                    by either the pump itself failing prior to the
                                                           demand whilst dormant, the associated pump
The lowest level modules in the pump system                stream failure (the probability determined by the
fault tree are the functional dependency gates             first level BDD analysis) or the power source
represented in figure 5. All events contributing           unavailability. Standby status indicates that the
to the cause of the functional dependency event            pump is functional but not operating when the
are independent and therefore these sections can           demand occurs. It can then fail following the
be analysed using the BDD technique. This will             demand due to a dynamic failure event. The
produce the pump stream failure probabilities              pumping process is required for 12 hours to
PE1, PE2, PD1, and PD2.                                    mitigate the hazard. It is assumed that in this
                                                           short period of time repair action can not be
Proceeding up the tree structure the next section          completed and that passive components (valves,
for analysis is the Pump system section                    pipework etc) cannot fail .
represented by the fault tree in figure 4. This has

STATE N0.                             STREAM STATUS                       INITIAL PROBABILITY
                                      1    2    3           4
1                                     W      W    S              S        (1-PE1)(1-PE2)(1-PD1)(1-PD2)

2                                     F         W      W         S        PE1(1-PE2)( 1-PD1)(1-PD2)
3                                     W         F      W         S        (1-PE1)PE2(1-PD1)(1-PD2)
4                                     W         W      F         S        (1-PE1)(1-PE2)PD1(1-PD2)
5                                     W         W      S         F        (1-PE1)(1-PE2)(1-PD1)PD2
6                                     F         F      W         W        PE1PE2(1-PD1)(1-PD2)
7                                     F         W      F         W        PE1(1-PE2)PD1(1-PD2)
8                                     F         W      W         F        PE1(1-PE2)(1-PD1)PD2
9                                     W         F      F         W        (1-PE1)PE2PD1(1-PD2)
10                                    W         F      W         F        (1-PE1)PE2(1-PD1)PD2
11                                    W         W      F         F        (1-PE1)(1-PE2)PD1PD2
12                                    F         F      F         W        PE1PE2PD1(1-PD2)
13                                    F         F      W         F        PE1PE2(1-PD1)PD2
14                                    F         W      F         F        PE1(1-PE2)PD1PD2
15                                    W         F      F         F        (1-PE1)PE2PD1PD2
16                                    F         F      F         F        PE1PE2PD1PD2
                                      Table 1 Markov Diagram Sate List

Initial probabilities of entering each of the states       for analysis. System failure states are those with
in the table is determined using the results of the        less than two functional pumps i.e. 12-16.
pump stream dormant failure fault trees. The               Performing the analysis on the Markov diagram
transition rates between the states are then               then yields the failure probability for the pump
obtained due to failure of the pumps, listed in            system. Progressing up to the top level in the
Table 2 and their power supply failures, listed in         fault tree structure will combine this probability
Table 3. The two sets of transition rates are              with that of the computer system failure to obtain
superimposed onto the state transition diagram             the overall system unavailability.

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  From state           To state        Transition rate      From State         To state        Transition rate
      1                   2                 λe 1                8                13                 λe 2
      1                    3                λe 2                 8                14                λd 1
      2                    6                λe 2                 9                12                λe 1
      2                    7                λd 1                 9                15                λd 2
      3                    6                λe 1                 10               13                λe 1
      3                    9                λd 1                 10               15                λd 1
      4                    7                λe 1                 11               14                λe 1
      4                    9                λe 2                 11               15                λe 2
      5                    8                λe 1                 12               16                λd 2
      5                   10                λe 2                 13               16                λd 1
      6                   12                λd 1                 14               16                λe 2
      6                   13                λd 2                 15               16                λe 1
      7                   12                λe 2                 7                14                λd 2

                                   Table 2 pump failure transition rates

  From state            To state       Transition rate      From state         To state        Transition rate
      1                    6                λep                 1                16                 λdp
      2                    6                λep                  2                14                λdp
      3                    6                λep                  3                15                λdp
      4                   12                λep                  4                11                λdp
      5                   13                λep                  5                11                λdp
      7                   12                λep                  6                16                λdp
      8                   13                λep                  7                14                λdp
      9                   12                λep                  8                14                λdp
      10                  13                λep                  9                15                λdp
      11                  16                λep                  10               15                λdp
      14                  16                λep                  12               16                λdp
      15                  16                λep                  13               16                λdp

                                   Table 3 Power failure transition rates

            Summary and Conclusions                       We have described, by means of a representative
                                                          example, a methodology for incorporating the

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analysis of various kinds of dependencies into a             Tandem       GUARDIAN90        Operating
fault tree. The dependencies considered include              System,” Proceedings of the 23rd
functional dependencies, static (on-demand)                  International Symposium on Fault Tolerant
dependencies,     sharing    relationships   and             Computing , June 1993.
uncovered faults. These dependencies arise             11. Joanne Bechta Dugan, Salvatore J. Bavuso
naturally in mechanical, electrical and computer           and Mark A. Boyd, “Dynamic fault tree
based systems, and their correct analysis is               models for fault tolerant computer
crucial to the accurate assessment of the system           systems,” IEEE Transactions on Reliability,
reliability.                                               Volume 41, Number 3, pages 363-377,
                                                           September 1992.
                                                       12. Kevin J. Sullivan, David Coppit and Joanne
1.   Veseley, W.E., “ A time dependent                       Bechta Dugan, “The Galileo Fault Tree
     methodology for fault tree evaluation”,                 Analysis Tool,” Proceedings of the 1999
     Nucl. Eng Des., 13, 337-360, 1970.                      Fault Tolerant Computing Symposium
                                                             (FTCS-29), June 1999. (Also see the web
2.   Ridley L.M. and Andrews J.D., “Optimal
     design    of   systems    with    standby
     dependencies”, to be published in Quality
     and Reliability Engineering International,                           Biography
     15, 1999.
3.   Andrews J.D. and Ridley L.M., “Analysis           John D. Andrews, PhD, Department of
     of systems with standby dependencies”,            Mathematical      Sciences,    Loughborough
     Proceedings of the International System           University, Loughborough, LE11 3TU, England.
     Safety Conference, Seattle, Sept 1998.            e-mail
4.   Rohit Gulati and Joanne Bechta Dugan, “A
                                                       Dr Andrews is a Senior Lecturer in the
     modular approach for analyzing static and
                                                       Department of Mathematical Sciences at
     dynamic fault trees,” in Proceedings of the
                                                       Loughborough University.       He joined this
     Reliability and Maintainability Symposium,
                                                       department in 1989 having previously gained
     January 1997
                                                       nine years industrial experience at British Gas
5.   Ragavan Manian, David Coppit, Kevin J.            and two years lecturing experience at the
     Sullivan and Joanne Bechta Dugan,                 University of Central England.
     “Bridging the gap between systems and
     dynamic fault tree models,” Proceedings of        His current research interests concern the
     the 1999 Reliability and Maintainability          assessment of the safety and risks of potentailly
     Symposium, January 1999, pages 105-111.           hazardous industrial systems. This research has
6.   Rauzy A., “A brief introduction to Binary         been heavily supported by funding from industry.
     Decision Diagrams”, Eur. J. Automat.,             Recent grants have been secured from Mobil
     30(8), 1996.                                      North Sea Ltd, Daimler Chrysler and Rolls
                                                       Royce Aero Engines.
7.   Dugan J.B. and Doyle S.A., “Incorporating
     imperfect coverage into binary decision
                                                       Joanne Bechta Dugan, PhD, Department of
     diagrams”, Eur. J. Automat., 30(8), 1996.
                                                       Electrical Engineering, University of Virginia,
8.   Sinnamon R.M. and Andrews J.D.,                   Thornton Hall, Charlottesville, VA 22903-2442
     “Quantitative fault tree analysis using           USA. e-mail
     binary decision diagrams, Eur. J. Automat.,
     30(8), 1996.                                      Joanne Bechta Dugan is a Professor of Electrical
9.   Joanne Bechta Dugan, Salvatore Bavuso,            Engineering at the University of Virginia, and
     and Mark Boyd, “Fault trees and Markov            was previously Associate Professor of Computer
     models for reliability analysis of fault          Science at Duke University and visiting Scientist
     tolerant systems,” Reliability Engineering        at the Research Triangle Institute. She has
     and System Safety, 39:291-307, 1993.              performed and directed research on the
                                                       development and application of techniques for
10. I. Lee and R.K. Iyer, “Faults, Symptoms
                                                       the analysis of computer systems which are
    and Software Fault Tolerance in the

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designed to tolerate hardware and software
faults. Dr. Dugan is Senior Associate Editor of
the IEEE Transactions on Reliability, is a Senior
member of the IEEE (Reliability and Computer
Societies. She served on the National Research
Council Committee on Application of Digital
Instrumentation and Control Systems to Nuclear
Power Plant Operations and Safety.


The authors would like to acknowledge the
financial support of NATO which has enabled
the collaboration between Loughborough
University, England and University of Virginia,
USA in developing methods to predict the
reliability of safety critical systems.

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