Formal Analysis of Robotic Cell Injection Systems Using Theorem Proving

Rashid, Adnan; Hasan, Osman

doi:10.1007/978-3-030-17910-6_10

Cited by 5 publications

(8 citation statements)

References 20 publications

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“…Moreover, the authors used these formalizations for formally analyzing an automobile suspension system, a MEMs accelerometer and a 4 − π soft-error crosstalk model [36,39]. Similarly, Rashid et al [34,38] formally verified a cell injection system upto 4-DOF using HOL Light. The authors verified various coordinate systems and their interrelationship, which are vital for capturing the position and relative movement of a robotic cell injection system.…”

Section: Related Workmentioning

confidence: 99%

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Formalization of Bond Graph using Higher-order-logic Theorem Proving

Ujala¹,

Rashid²,

Hasan³

2021

Preprint

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Bond graph is a unified graphical approach for describing the dynamics of complex engineering and physical systems and is widely adopted in a variety of domains, such as, electrical, mechanical, medical, thermal and fluid mechanics. Traditionally, these dynamics are analyzed using paper-and-pencil proof methods and computer-based techniques. However, both of these techniques suffer from their inherent limitations, such as human-error proneness, approximations of results and enormous computational requirements. Thus, these techniques cannot be trusted for performing the bond graph based dynamical analysis of systems from the safety-critical domains like robotics and medicine. Formal methods, in particular, higher-order-logic theorem proving, can overcome the shortcomings of these traditional methods and provide an accurate analysis of these systems. It has been widely used for analyzing the dynamics of engineering and physical systems. In this paper, we propose to use higher-order-logic theorem proving for performing the bond graph based analysis of the physical systems. In particular, we provide formalization of bond graph, which mainly includes functions that allow conversion of a bond graph to its corresponding mathematical model (state-space model) and the verification of its various properties, such as, stability. To illustrate the practical effectiveness of our proposed approach, we present the formal stability analysis of a prosthetic mechatronic hand using HOL Light theorem prover. Moreover, to help non-experts in HOL, we encode our formally verified stability theorems in MATLAB to perform the stability analysis of an anthropomorphic prosthetic mechatronic hand.

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Section: Related Workmentioning

confidence: 99%

“…HOL Light is built using the functional programming language objective CAML (OCaml). It has been extensively used for the formal verification of both hardware [8,34,49] and software systems [46] along with the formalization of mathematics.…”

Section: Hol Light Theorem Provermentioning

confidence: 99%

Formalization of Bond Graph using Higher-order-logic Theorem Proving

Ujala¹,

Rashid²,

Hasan³

2021

Preprint

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“…The authors mainly formalized the safety zone of the robot based on the algorithm and used it to formally verify that the robot will stop upon facing an obstacle, otherwise, it will continue its movement within the safety zone. Recently, Rashid et al [80] provided the formal modeling and analysis of the 2-DOF robotic cell injection systems using HOL Light.…”

Section: Verification Of Control and Signal Processing Componentsmentioning

confidence: 99%

Formal Verification of Cyber-Physical Systems Using Theorem Proving

Rashid

Siddique

Tahar

2020

Communications in Computer and Information Science

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Due to major breakthroughs in software and engineering technologies, embedded systems are increasingly being utilized in areas ranging from aerospace and next-generation transportation systems, to smart grid and smart cities, to health care systems, and broadly speaking to what is known as Cyber-Physical Systems (CPS). A CPS is primarily composed of several electronic, communication and controller modules and some actuators and sensors. The mix of heterogeneous underlying smart technologies poses a number of technical challenges to the design and more severely to the verification of such complex infrastructure. In fact, a CPS shall adhere to strict safety, reliability, performance and security requirements, where one needs to capture both physical and random aspects of the various CPS modules and then analyze their interrelationship across interlinked continuous and discrete dynamics. Oftentimes however, system bugs remain uncaught during the analysis and in turn cause unwanted scenarios that may have serious consequences in safety-critical applications. In this paper, we introduce some of the challenges surrounding the design and verification of contemporary CPS with the advent of smart technologies. In particular, we survey recent developments in the use of theorem proving, a formal method, for the modeling, analysis and verification of CPS, and overview some real world CPS case studies from the automotive, avionics and healthtech domains from system level to physical components.

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“…Later, Affeldt et al [43] extended this framework by formalizing the foundations for analyzing three-dimensional robot manipulator using the Coq theorem prover [44] and used it for the verification of the SCARA robot manipulator. Recently, Rashid and Hasan [45] provided the formal modeling and analysis of the 2-DOF robotic cell injection systems using HOL Light. However, to the best of our knowledge, higher-order-logic based theorem proving has never been used in the context of macroscopic models, which is the scope of the current paper.…”

Section: Related Workmentioning

confidence: 99%

Toward the Formalization of Macroscopic Models of Traffic Flow Using Higher-Order-Logic Theorem Proving

et al. 2020

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Next-generation transportation will be integrated, interconnected and highly autonomous. One key challenge in traffic management is ensuring safety while maintaining the required level of service quality. In such future mobility systems, rigorous formalization and validation will thus become critical to ensure that the transportation network operates as intended, traffic properties are reliably maintained, and services resume in a timely manner after potential disruptions. Formal methods have recently gained considerable attention as a modeling and verification paradigm capable of addressing many challenges associated with next-generation transportation systems. In this regard, we propose to use higher-orderlogic theorem proving for formally analyzing transportation systems. As a first step towards this direction, we present a logical framework for the formal analysis of macroscopic models of traffic flow. Leveraging upon the high expressiveness of the underlying logic, we formally model the continuous components of macroscopic models while capturing their real behavior. In particular, we present a formalization of some foundation concepts of macroscopic models, namely density, flow rate, mean speed, relative occupancy, and shockwave using the higher-order-logic theorem prover HOL Light. This choice is primarily motivated by the fact that the macroscopic models deal with the traffic flow dynamics and thus play a vital role in planning strategies in allocating resources for implementing optimized and balanced transportation systems. For illustration, we perform the formal input-output and shockwave analysis of a German freeway. The case study demonstrated the practicability of this formal approach due to the high expressiveness of the underlying logic. The proposed research is first step towards formalizing the foundational mathematical theories and core concepts of traffic flow theory. This accomplishment will open new ways to plan and model various components of the transportation systems such as highway links, ramp metering, merging behavior and eventually address the problem of routing vehicles in a network of automated vehicles. INDEX TERMS Input-output analysis, macroscopic model, shockwave analysis, theorem proving, transportation modeling, validation methods.

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Formal Analysis of Robotic Cell Injection Systems Using Theorem Proving

Cited by 5 publications

References 20 publications

Formalization of Bond Graph using Higher-order-logic Theorem Proving

Formalization of Bond Graph using Higher-order-logic Theorem Proving

Formal Verification of Cyber-Physical Systems Using Theorem Proving

Toward the Formalization of Macroscopic Models of Traffic Flow Using Higher-Order-Logic Theorem Proving

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