Testing real-time multi input-output systems

In formal testing, the assumption of input enabling is typically made. This assumption requires all inputs to be enabled anytime. In addition, the useful concept of quiescence is sometimes applied. Briefly, a system is in a quiescent state when it cannot produce outputs. In this paper, we relax the input enabling assumption, and allow some input sets to be enabled while others remain disabled. Moreover, we also relax the general bound M used in timed systems to detect quiescence, and allow different bounds for different sets of outputs. By considering the tioco-M theory, an enriched theory for timed testing with repetitive quiescence, and allowing the partition of input sets and output sets, we introduce the mtioco^M relation. A test derivation procedure which is nondeterministic and parameterized is further developed, and shown to be sound and complete wrt mtioco^

Testing multi input-output real-time systems (Extended version)

In formal testing, the assumption of input enabling is typically made. This assumption requires all inputs to be enabled anytime. In addition, the useful concept of quiescence is sometimes applied. Briefly, a system is in a quiescent state when it cannot produce outputs. In this paper, we relax the input enabling assumption, and allow some input sets to be enabled while others remain disabled. Moreover, we also relax the general bound M used in timed systems to detect quiescence, and allow different bounds for different sets of outputs. By considering the tiocoM theory, an enriched theory for timed testing with repetitive quiescence, and allowing the partition of input sets and output sets, we introduce the mtiocoM relation. A test derivation procedure which is nondeterministic and parameterized is further developed, and shown to be sound and complete wrt mtiocoM

Testing a distributed system: Generating minimal synchronised test sequences that detect output-shifting faults

A distributed system may have a number of separate interfaces called ports and in testing it may be necessary to have a separate tester at each port. This introduces a number of issues, including the necessity to use synchronised test sequences and the possibility that output-shifting faults go undetected. This paper considers the problem of generating a minimal synchronised test sequence that detects output-shifting faults when the system is specified using a finite state machine with multiple ports. The set of synchronised test sequences that detect output-shifting faults is represented by a directed graph G and test generation involves finding appropriate tours of G. This approach is illustrated using the test criterion that the test sequence contains a test segment for each transition

Sensor-fault tolerance using robust MPC with set-based state estimation and active fault isolation

In this paper, a sensor fault-tolerant control (FTC) scheme using robust model predictive control (MPC) and set theoretic fault detection and isolation (FDI) is proposed. The MPC controller is used to both robustly control the plant and actively guarantee fault isolation (FI). In this scheme, fault detection (FD) is passive by interval observers, while fault isolation (FI) is active by MPC. The advantage of the proposed approach consists in using MPC to actively decouple the effect of sensor faults on the outputs such that one output component only corresponds to one sensor fault in terms of FI, which can utilize the feature of sensor faults for FI. A numerical example is used to illustrate the effectiveness of the proposed scheme.Postprint (author’s final draft

IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT

This paper presents the design and implementation of a human–robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the RoboCup domain. The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface. A human–robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularized software architecture, operability, and functionality. Some experimental results are presented to show the performance of the proposed system based on simulated and real-time information. </jats:p

Verifying service continuity in a satellite reconfiguration procedure: application to a satellite

The paper discusses the use of the TURTLE UML profile to model and verify service continuity during dynamic reconfiguration of embedded software, and space-based telecommunication software in particular. TURTLE extends UML class diagrams with composition operators, and activity diagrams with temporal operators. Translating TURTLE to the formal description technique RT-LOTOS gives the profile a formal semantics and makes it possible to reuse verification techniques implemented by the RTL, the RT-LOTOS toolkit developed at LAAS-CNRS. The paper proposes a modeling and formal validation methodology based on TURTLE and RTL, and discusses its application to a payload software application in charge of an embedded packet switch. The paper demonstrates the benefits of using TURTLE to prove service continuity for dynamic reconfiguration of embedded software