I've said this before, but: "Emissions test driven development" http://www.nytimes.com/2016/04/27/business/international/vw-presentation-in-06-showed-how-to-foil-emissions-tests.html?smid=tw-nytimes&smtyp=cur …
This is at the unit test case level. At higher levels, fakery becomes harder, but is still possible if the developer is motivated
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The crucial point is this: it needs to be impossible to computationally distinguish an emissions test from regular driving
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If an engine passes your test, and later you wish it hadn't, harden your test. The engine manufacturer is not on your side
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