Reachset Conformance Testing of Human Arms with a Biomechanical Model

Stark, Cedric; Pereira, Aaron; Althoff, Matthias

doi:10.1109/irc.2018.00045

Cited by 4 publications

(3 citation statements)

References 26 publications

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“…Because sports, dance, and acrobatic movements are forbidden in a factory, we excluded them from our analysis. To try to find extreme movements not present in recorded data for the joint-space models in (73), we used the high-fidelity biomechanical model in (97) to systematically explore the state space using rapidly exploring random trees (98), which explore previously unexplored regions more efficiently compared with random testing (99).…”

Section: Validation Of Human Models and Their Occupancy Predictionmentioning

confidence: 99%

Effortless creation of safe robots from modules through self-programming and self-verification

et al. 2019

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Industrial robots cannot be reconfigured to optimally fulfill a given task and often have to be caged to guarantee human safety. Consequently, production processes are meticulously planned so that they last for long periods to make automation affordable. However, the ongoing trend toward mass customization and small-scale manufacturing requires purchasing new robots on a regular basis to cope with frequently changing production. Modular robots are a natural answer: Robots composed of standardized modules can be easily reassembled for new tasks, can be quickly repaired by exchanging broken modules, and are cost-effective by mass-producing standard modules usable for a large variety of robot types. Despite these advantages, modular robots have not yet left research laboratories because an expert must reprogram each new robot after assembly, rendering reassembly impractical. This work presents our set of interconnectable modules (IMPROV), which programs and verifies the safety of assembled robots themselves. Experiments show that IMPROV robots retained the same control performance as nonmodular robots, despite their reconfigurability. With respect to human-robot coexistence, our user study shows a reduction of robot idle time by 36% without compromising on safety using our self-verification concept compared with current safety standards. We believe that by using self-programming and self-verification, modular robots can transform current automation practices.

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Section: Validation Of Human Models and Their Occupancy Predictionmentioning

confidence: 99%

Effortless creation of safe robots from modules through self-programming and self-verification

et al. 2019

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“…It is shown in [12] that reachset conformance is sufficient for the formal verification of safety properties. Other works successfully applied reachset conformance testing for robot manipulators [9], human arms [14], and pedestrians [10]. An extension to reachset conformance testing is reachset conformant synthesis as introduced in [9], where the required non-determinism is determined automatically.…”

Section: Introductionmentioning

confidence: 99%

Establishing Reachset Conformance for the Formal Analysis of Analog Circuits

Kochdumper

Tarraf

Rechmal

et al. 2020

2020 25th Asia and South Pacific Design Automation Conference (ASP-DAC)

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We present the first work on the automated generation of reachset conformant models for analog circuits. Our approach applies reachset conformant synthesis to add non-determinism to piecewiselinear circuit models so that they then enclose all possible behaviors of the real system. Since piecewiselinear models are hybrid, we introduce the first reachset conformant synthesis algorithm for hybrid system models. Furthermore we present a novel technique to compute the required non-determinism. The effectiveness of our approach is demonstrated on a real analog circuit. Since the resulting models enclose all measurements, they can be used for formal verification.

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“…In this work, we model our systems using differential equations. Previous reachset conformance checks can be found for human arms [10], [11] or pedestrians [12]. Formal analysis tools for dynamical systems (e.g., SpaceEx [13], Flow* [14], HyLAA [15], XSpeed [16], or CORA [17]) require simple, yet conformant models, which are restricted to e.g., linear or polynomial terms.…”

Section: Introductionmentioning

confidence: 99%

Reachset Conformance of Forward Dynamic Models for the Formal Analysis of Robots

Liu

Althoff

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Model-based design of robotic systems has many advantages, among them faster development cycles and reduced costs due to early detections of design flaws. Approximate models are sufficient for many classical robotic applications; however, they no longer suffice for safety-critical applications. For instance, a dangerous situation which has not been detected by model-based testing might occur in a human-robot coexistence scenario since models do not exactly replicate behaviors of real systems-this problem arises no matter how accurate a model is, since even disturbances and sensor noise can cause a mismatch. We address this issue by adding nondeterminism to robotic models and by computing the whole set of possible behaviors using reachability analysis. By using reachset conformance, we automatically adjust the required non-determinism so that all recorded behaviors are captured. For the first time this approach is demonstrated for a real robot.

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Reachset Conformance Testing of Human Arms with a Biomechanical Model

Cited by 4 publications

References 26 publications

Effortless creation of safe robots from modules through self-programming and self-verification

Effortless creation of safe robots from modules through self-programming and self-verification

Establishing Reachset Conformance for the Formal Analysis of Analog Circuits

Reachset Conformance of Forward Dynamic Models for the Formal Analysis of Robots

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