Unlock instant, AI-driven research and patent intelligence for your innovation.

A model checking method for robosim model real-time system

A model checking, real-time system technology, applied in model-driven code, instrumentation, creation/generation of source code, etc., can solve problems such as low verification efficiency of time-related properties, and achieve high verification efficiency

Active Publication Date: 2022-08-05
EAST CHINA NORMAL UNIV
View PDF1 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, RoboSim's tock-CSP semantics are inefficient for verification of time-dependent properties and are not suitable for modeling and verification of the physical platform and environment of robotic systems

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A model checking method for robosim model real-time system
  • A model checking method for robosim model real-time system
  • A model checking method for robosim model real-time system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0113] The present invention adopts model conversion technology, converts the RoboSim model into a time automaton network model, and automatically generates basic TCTL properties, so as to use the model detection tool UPPAAL to simulate, verify and analyze the robot simulation model, and specifically includes the following steps:

[0114] 1. Model a RoboSim robot simulation model FootBot.

[0115] See attached Figure 11 , the model mainly includes:

[0116] a. The global interfaces ObstacleI and MovementI, where ObstacleI declares the event obstacle, which is used to indicate that the robot encounters an obstacle; MovementI declares the operations move(ls,as) and stop(), and ls and as are the parameters of the move operation , which represent the linear velocity and the angular velocity of turning, respectively.

[0117] b. The module CFootBot, the cycle period is 1 time unit, contains a reference to a robot platform FootBot and a controller Movement. FootBot passes the ev...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a model detection method oriented to the RoboSim model real-time system. The tool UPPAAL simulates, validates and analyzes the robot simulation model. Compared with the prior art, the present invention has high verification efficiency, is suitable for modeling and verifying the physical platform and environment of the robot, supports the transformation of the RoboSim model into a time automaton network model, and provides a framework for formal verification of the RoboSim robot simulation model. an effective method.

Description

technical field [0001] The invention relates to the technical field of detection of a robot simulation model, in particular to a model detection method for a RoboSim model real-time system. Background technique [0002] At present, the application of robot systems is becoming more and more extensive, and the many hidden dangers it faces are gradually being paid attention to by people. The robotic system is a typical Cyber-Physical System (CPS), which combines the robotic platform with the physical environment and realizes the interaction between the computer and the real world. Because the development of the robot system is relatively complex and the cost of simulation in the real environment is high, it is usually necessary to simulate the system in the early stage of system development, so that the system can be simulated on the simulation software and reduce the development cost. [0003] RoboSim is a simulation modeling language for robot systems. It is a tool-independe...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F8/35G06F8/33G06F8/30G06F40/149G06F40/186
CPCG06F30/20G06F8/35G06F8/315G06F8/33G06F40/186G06F40/149
Inventor 杜德慧张铭茁张梦寒张馨元
Owner EAST CHINA NORMAL UNIV