Systematic and Realistic Testing in Simulation of Control Code for Robots in Collaborative Human-Robot Interactions

© Springer International Publishing Switzerland 2016. Industries such as flexible manufacturing and home care will be transformed by the presence of robotic assistants. Assurance of safety and functional soundness for these robotic systems will require rigorous verification and validation. We propose testing in simulation using Coverage-Driven Verification (CDV) to guide the testing process in an automatic and systematic way. We use a two-tiered test generation approach, where abstract test sequences are computed first and then concretized (e.g., data and variables are instantiated), to reduce the complexity of the test generation problem. To demonstrate the effectiveness of our approach, we developed a testbench for robotic code, running in ROS-Gazebo, that implements an object handover as part of a humanrobot interaction (HRI) task. Tests are generated to stimulate the robot’s code in a realistic manner, through stimulating the human, environment, sensors, and actuators in simulation. We compare the merits of unconstrained, constrained and model-based test generation in achieving thorough exploration of the code under test, and interesting combinations of human-robot interactions. Our results show that CDV combined with systematic test generation achieves a very high degree of automation in simulation-based verification of control code for robots in HRI

SAVCBS 2005 Proceedings: Specification and Verification of Component-Based Systems

This workshop is concerned with how formal (i.e., mathematical) techniques can be or should be used to establish a suitable foundation for the specification and verification of component-based systems. Component-based systems are a growing concern for the software engineering community. Specification and reasoning techniques are urgently needed to permit composition of systems from components. Component-based specification and verification is also vital for scaling advanced verification techniques such as extended static analysis and model checking to the size of real systems. The workshop will consider formalization of both functional and non-functional behavior, such as performance or reliability. This workshop brings together researchers and practitioners in the areas of component-based software and formal methods to address the open problems in modular specification and verification of systems composed from components. We are interested in bridging the gap between principles and practice. The intent of bringing participants together at the workshop is to help form a community-oriented understanding of the relevant research problems and help steer formal methods research in a direction that will address the problems of component-based systems. For example, researchers in formal methods have only recently begun to study principles of object-oriented software specification and verification, but do not yet have a good handle on how inheritance can be exploited in specification and verification. Other issues are also important in the practice of component-based systems, such as concurrency, mechanization and scalability, performance (time and space), reusability, and understandability. The aim is to brainstorm about these and related topics to understand both the problems involved and how formal techniques may be useful in solving them

Evaluation of SystemVerilog and Constrained Random Verification for Digital Designs

The Field Programmable Gate Array is a device that consists of configurable logic, on chip-memory and often functionality that is fixed into silicon, such as hardware multipliers or transceivers for peripheral communication. The Field Programmable Gate Array is a configurable and reprogrammable digital circuit that can be designed to implement functionality that is deterministic and parallel. Due to these qualities the Field Programmable Gate Array is also an energy efficient choice of hardware for many digital designs. Technological advancements in the semiconductor industry have resulted in a continuous decrease in transistor sizes, which in turn has allowed for an increased transistor density in semiconductor devices. For Field Programmable Gate Arrays the development has led to increasingly complex designs, as an increased amount of programmable resources are available. Consequently, the time and effort spent in verification of the digital designs has increased. Discovering design flaws before end products are released is not only economically crucial, but a failure to do so might damage the reputation of a company. In this thesis current verification trends are evaluated in three case studies made for Danfoss Drives. The objective of the thesis is to determine whether the quality of testing of Field Programmable Gate Array designs at the company can be improved by using Constrained Random Verification and the SystemVerilog language. Test benches for behavioral simulations are built using SystemVerilog in conjunction with the Universal Verification Methodology. Constrained Random Verification based on the SystemVerilog language and the Universal Verification Methodology was evaluated for unit level testing in two case studies for one Intellectual Property core. A third case study was made for a system level design of multiple Intellectual Property cores as a SystemVerilog test bench utilizing neither constrained randomization nor the Universal Verification Methodology. Improved test coverage and an increased degree of automatization was achieved for the unit level testing, although at the cost of an increased verification effort. In the system level testing the capabilities of the SystemVerilog language proved beneficial, especially for creating transaction level stimulus, writing self-checking mechanisms for the test bench and modularizing its structure.fi=Opinnäytetyö kokotekstinä PDF-muodossa.|en=Thesis fulltext in PDF format.|sv=Lärdomsprov tillgängligt som fulltext i PDF-format

An Automated Framework for BPMN Model Verification Achieving Branch Coverage

BPMN model is used in software development process that the procedural logics of software are described in term of graphical representation. Formal verification using colored Petri net (CPN) can be used to prove whether a designed BPMN model is frees of undesirable properties such as deadlock and unreachable task, and meets user requirements or not. Although there are many researches providing the transformation rules and frameworks for automating and verifying the CPN model, the CPN markings determination covering all execution paths is quite cumbersome. This paper proposes an automated BPMN verification framework that integrates the BPMN modeling tool and the CPN model checker together. The designed BPMN model is transformed into a CPN model and control flow graph (CFG). The CFG is used to create the execution paths and to find the interleaved activities. The interleaved activities are then considered for creating the CPN port places and markings by an applying of the branch coverage testing technique. Behaviors of the CPN model are analyzed by using a state space analysis based on the CPN model and automated markings. Our framework has been implemented as an Eclipse BPMN modeler plugin, and it is tested with the five case studies. The results show that our framework is practical. It can automate the CPN models from the BPMN model and guide the designers regarding the CPN markings determination to achieve branch coverage criteria

Analyzing the Usefulness of ThingFO as a Foundational Ontology for Sciences

This work specifies and defines all terms, properties and relationships of ThingFO –which stands for Thing Foundational Ontology. ThingFO is an ontology for particular and universal Things and Assertions placed at the foundational level in the context of a four-layered ontological architecture called FCDOntoArch. This is a four-layered ontological architecture, which considers foundational, core, domain and instance levels. In turn, the domain level is split down into two sub-levels, namely: top-domain and low-domain. Ontologies at the same level can be related to each other, except for the foundational level where only the ThingFO ontology is. Additionally, ontologies' terms, properties and relationships at lower levels can be semantically enriched by ontologies' terms properties and relationships from the higher levels. Since ThingFO is at the highest level, ontologies at lower levels benefit from reusing and extending its concepts. To illustrate the usefulness of ThingFO, we primarily analyze enriched terms of a couple of ontologies at the core level such as ProcessCO and SituationCO, among others, in which their concepts are cross-cutting concerns for many domain terminologies from diverse sciences.Sociedad Argentina de Informática e Investigación Operativ

Semantically defined Analytics for Industrial Equipment Diagnostics

In this age of digitalization, industries everywhere accumulate massive amount of data such that it has become the lifeblood of the global economy. This data may come from various heterogeneous systems, equipment, components, sensors, systems and applications in many varieties (diversity of sources), velocities (high rate of changes) and volumes (sheer data size). Despite significant advances in the ability to collect, store, manage and filter data, the real value lies in the analytics. Raw data is meaningless, unless it is properly processed to actionable (business) insights. Those that know how to harness data effectively, have a decisive competitive advantage, through raising performance by making faster and smart decisions, improving short and long-term strategic planning, offering more user-centric products and services and fostering innovation. Two distinct paradigms in practice can be discerned within the field of analytics: semantic-driven (deductive) and data-driven (inductive). The first emphasizes logic as a way of representing the domain knowledge encoded in rules or ontologies and are often carefully curated and maintained. However, these models are often highly complex, and require intensive knowledge processing capabilities. Data-driven analytics employ machine learning (ML) to directly learn a model from the data with minimal human intervention. However, these models are tuned to trained data and context, making it difficult to adapt. Industries today that want to create value from data must master these paradigms in combination. However, there is great need in data analytics to seamlessly combine semantic-driven and data-driven processing techniques in an efficient and scalable architecture that allows extracting actionable insights from an extreme variety of data. In this thesis, we address these needs by providing: • A unified representation of domain-specific and analytical semantics, in form of ontology models called TechOnto Ontology Stack. It is highly expressive, platform-independent formalism to capture conceptual semantics of industrial systems such as technical system hierarchies, component partonomies etc and its analytical functional semantics. • A new ontology language Semantically defined Analytical Language (SAL) on top of the ontology model that extends existing DatalogMTL (a Horn fragment of Metric Temporal Logic) with analytical functions as first class citizens. • A method to generate semantic workflows using our SAL language. It helps in authoring, reusing and maintaining complex analytical tasks and workflows in an abstract fashion. • A multi-layer architecture that fuses knowledge- and data-driven analytics into a federated and distributed solution. To our knowledge, the work in this thesis is one of the first works to introduce and investigate the use of the semantically defined analytics in an ontology-based data access setting for industrial analytical applications. The reason behind focusing our work and evaluation on industrial data is due to (i) the adoption of semantic technology by the industries in general, and (ii) the common need in literature and in practice to allow domain expertise to drive the data analytics on semantically interoperable sources, while still harnessing the power of analytics to enable real-time data insights. Given the evaluation results of three use-case studies, our approach surpass state-of-the-art approaches for most application scenarios.Im Zeitalter der Digitalisierung sammeln die Industrien überall massive Daten-mengen, die zum Lebenselixier der Weltwirtschaft geworden sind. Diese Daten können aus verschiedenen heterogenen Systemen, Geräten, Komponenten, Sensoren, Systemen und Anwendungen in vielen Varianten (Vielfalt der Quellen), Geschwindigkeiten (hohe Änderungsrate) und Volumina (reine Datengröße) stammen. Trotz erheblicher Fortschritte in der Fähigkeit, Daten zu sammeln, zu speichern, zu verwalten und zu filtern, liegt der eigentliche Wert in der Analytik. Rohdaten sind bedeutungslos, es sei denn, sie werden ordnungsgemäß zu verwertbaren (Geschäfts-)Erkenntnissen verarbeitet. Wer weiß, wie man Daten effektiv nutzt, hat einen entscheidenden Wettbewerbsvorteil, indem er die Leistung steigert, indem er schnellere und intelligentere Entscheidungen trifft, die kurz- und langfristige strategische Planung verbessert, mehr benutzerorientierte Produkte und Dienstleistungen anbietet und Innovationen fördert. In der Praxis lassen sich im Bereich der Analytik zwei unterschiedliche Paradigmen unterscheiden: semantisch (deduktiv) und Daten getrieben (induktiv). Die erste betont die Logik als eine Möglichkeit, das in Regeln oder Ontologien kodierte Domänen-wissen darzustellen, und wird oft sorgfältig kuratiert und gepflegt. Diese Modelle sind jedoch oft sehr komplex und erfordern eine intensive Wissensverarbeitung. Datengesteuerte Analysen verwenden maschinelles Lernen (ML), um mit minimalem menschlichen Eingriff direkt ein Modell aus den Daten zu lernen. Diese Modelle sind jedoch auf trainierte Daten und Kontext abgestimmt, was die Anpassung erschwert. Branchen, die heute Wert aus Daten schaffen wollen, müssen diese Paradigmen in Kombination meistern. Es besteht jedoch ein großer Bedarf in der Daten-analytik, semantisch und datengesteuerte Verarbeitungstechniken nahtlos in einer effizienten und skalierbaren Architektur zu kombinieren, die es ermöglicht, aus einer extremen Datenvielfalt verwertbare Erkenntnisse zu gewinnen. In dieser Arbeit, die wir auf diese Bedürfnisse durch die Bereitstellung: • Eine einheitliche Darstellung der Domänen-spezifischen und analytischen Semantik in Form von Ontologie Modellen, genannt TechOnto Ontology Stack. Es ist ein hoch-expressiver, plattformunabhängiger Formalismus, die konzeptionelle Semantik industrieller Systeme wie technischer Systemhierarchien, Komponenten-partonomien usw. und deren analytische funktionale Semantik zu erfassen. • Eine neue Ontologie-Sprache Semantically defined Analytical Language (SAL) auf Basis des Ontologie-Modells das bestehende DatalogMTL (ein Horn fragment der metrischen temporären Logik) um analytische Funktionen als erstklassige Bürger erweitert. • Eine Methode zur Erzeugung semantischer workflows mit unserer SAL-Sprache. Es hilft bei der Erstellung, Wiederverwendung und Wartung komplexer analytischer Aufgaben und workflows auf abstrakte Weise. • Eine mehrschichtige Architektur, die Wissens- und datengesteuerte Analysen zu einer föderierten und verteilten Lösung verschmilzt. Nach unserem Wissen, die Arbeit in dieser Arbeit ist eines der ersten Werke zur Einführung und Untersuchung der Verwendung der semantisch definierten Analytik in einer Ontologie-basierten Datenzugriff Einstellung für industrielle analytische Anwendungen. Der Grund für die Fokussierung unserer Arbeit und Evaluierung auf industrielle Daten ist auf (i) die Übernahme semantischer Technologien durch die Industrie im Allgemeinen und (ii) den gemeinsamen Bedarf in der Literatur und in der Praxis zurückzuführen, der es der Fachkompetenz ermöglicht, die Datenanalyse auf semantisch inter-operablen Quellen voranzutreiben, und nutzen gleichzeitig die Leistungsfähigkeit der Analytik, um Echtzeit-Daten-einblicke zu ermöglichen. Aufgrund der Evaluierungsergebnisse von drei Anwendungsfällen Übertritt unser Ansatz für die meisten Anwendungsszenarien Modernste Ansätze

MINING AND VERIFICATION OF TEMPORAL EVENTS WITH APPLICATIONS IN COMPUTER MICRO-ARCHITECTURE RESEARCH

Computer simulation programs are essential tools for scientists and engineers to understand a particular system of interest. As expected, the complexity of the software increases with the depth of the model used. In addition to the exigent demands of software engineering, verification of simulation programs is especially challenging because the models represented are complex and ridden with unknowns that will be discovered by developers in an iterative process. To manage such complexity, advanced verification techniques for continually matching the intended model to the implemented model are necessary. Therefore, the main goal of this research work is to design a useful verification and validation framework that is able to identify model representation errors and is applicable to generic simulators. The framework that was developed and implemented consists of two parts. The first part is First-Order Logic Constraint Specification Language (FOLCSL) that enables users to specify the invariants of a model under consideration. From the first-order logic specification, the FOLCSL translator automatically synthesizes a verification program that reads the event trace generated by a simulator and signals whether all invariants are respected. The second part consists of mining the temporal flow of events using a newly developed representation called State Flow Temporal Analysis Graph (SFTAG). While the first part seeks an assurance of implementation correctness by checking that the model invariants hold, the second part derives an extended model of the implementation and hence enables a deeper understanding of what was implemented. The main application studied in this work is the validation of the timing behavior of micro-architecture simulators. The study includes SFTAGs generated for a wide set of benchmark programs and their analysis using several artificial intelligence algorithms. This work improves the computer architecture research and verification processes as shown by the case studies and experiments that have been conducted