In cyber-physical systems (CPSs), fault tolerance is traditionally achieved by analysing sensor and actuator outputs, detecting progressive drift or sudden failures, and initiating suitable tolerance mechanisms. Reasonable under general failure models, this approach fails to capture nuanced disruptions caused by cyberattacks, which may employ subtle strategies. This is particularly critical in embodied CPSs, where computational and physical devices not only have an active role in task completion, but also in embodiment preservation (that is, maintaining the system's physical integrity). To prevent structural physical damage, embodied CPSs require a framework that enables proactive response to cyberattacks. This paper proposes a formal dependability framework that incorporates IDS information into resilience evaluation predicates, enabling assessment of tolerance to disruption and degradation. The framework supports structured reasoning about how cyberattacks affect task execution and embodiment preservation, and whether mitigation strategies must be deployed. Analytical examples demonstrate its analytical capability and soundness, establishing a theoretical foundation for dependable and secure embodied CPSs.

翻译：在网宇物理系统（CPS）中，传统容错机制通过分析传感器与执行器输出、检测渐进性漂移或突发性故障，并启动相应容错策略来实现。这一方法在通用故障模型下具有合理性，但难以捕捉由网络攻击引发的细微扰动——此类攻击可能采用隐蔽策略。在具身化CPS中，这一问题尤为关键：计算与物理设备不仅在任务完成中发挥主动作用，还承担着具身保全（即维护系统物理完整性）的职责。为预防结构性物理损伤，具身化CPS需要能够主动响应网络攻击的框架。本文提出一种形式化可靠性框架，将入侵检测系统（IDS）信息融入韧性评估谓词，从而实现对扰动与性能退化容忍能力的量化评估。该框架支持结构化推理，可分析网络攻击如何影响任务执行与具身保全，并判定是否需要部署缓解策略。分析示例验证了其分析能力与逻辑完备性，为构建可靠且安全的具身化CPS奠定了理论基础。