Due to the immutable nature of distributed ledger technology such as blockchain, it is utter importance that a smart contract works intended before employment outside test network. This since any bugs or errors will become permanent once published live network, and could lead substantial economic losses; manifested in infamous DAO exploit hack 2016. In order avoid this, formal verification methods can be used ensure behaves according given specifications. paper presents survey state art...

In this paper, we formulate and solve two different minimum time problems related to unmanned ground vehicle (UGV) surveillance. The first problem is the following. Given a set of surveillance UGVs polyhedral area, find waypoint-paths for all such that every point area visible from on path executing search in parallel minimized. Here, sensors' field view are assumed have limited coverage range be occluded by obstacles.

In this paper we present an experimental study on real-time collision avoidance with potential fields that are based 3D point cloud data and processed the Graphics Processing Unit (GPU). The virtual forces from serve two purposes. First, they used for changing reference trajectory. Second projected to applied torque control level generating according nullspace behavior together a Cartesian impedance main loop. GPU algorithm creates map representation is quickly accessible. addition, outliers...

As a general trend in industrial robotics, an increasing number of safety functions are being developed or re-engineered to be handled software rather than by physical hardware such as relays interlock circuits. This reinforces the importance supplementing traditional, input-based testing and quality procedures which widely used industry today, with formal verification model-checking methods. To this end, paper focuses on representative safety-critical system ABB paint robot, namely...

Given the importance and focus of oil gas industry related to safety, environmental impact, cost efficiency increased production, potential for more extensive use automation in general, robotic technology particular, is evident. The specific role robots this context will be perform various inspection manipulation operations which human field operators today. In paper, we initially present an overview current trends challenges within industry. This followed by latest results from our work...

The focus of this paper is our recent real-world demonstration using an industrial robot certified for running in explosive atmospheres (ATEX). run amidst live and hydrocarbon processes involves autonomous valve manipulation thermal inspection operations. operation sensor-based movements which implies that the trajectories have not been programmed a priori (off-line). In particular, approach will be presented to sense avoid over-tightening/loosening valve. To best knowledge, prototype first...

On-line trajectory optimization in three dimensional space is the main topic of paper at hand. The high-level framework augments on-line receding horizon control with an off-line computed termi ...

This paper proposes an optimization based approach to multi-UGV surveillance. In particular, we formulate both the minimum time- and connectivity constrained surveillance problems, show NP-hardness of them propose decomposition techniques that allow us solve efficiently in algorithmic manner. The time formulation is following. Given a set UGVs polyhedral area, find waypoint-paths for all such every point area visible from on path executing search parallel minimized. Here, sensor¿s field view...

This paper presents adaptable methods for achieving fast collision detection using the GPU and Nvidia CUDA together with Octrees.Earlier related work have focused on serial methods, while this a parallel solution which shows that there is great increase in time if number of operations large.Two different models environment industrial robot are presented, first Octrees at resolutions, second point cloud representation.The relative merits two world model representations shown.In particular,...

This paper addresses the problem of designing a real time high performance controller and trajectory generator for air vehicles. The control objective is to use information about terrain enemy threats fly low avoid radar exposure on way given target. proposed algorithm builds well known approach receding horizon (RHC) combined with terminal cost, calculated from graph representation environment. Using novel safety maneuver, under an assumption maximal inclination, we are able prove as task...

This paper describes use of model checking to verify synchronisation properties an industrial welding system consisting a cobot arm and external turntable.The robots must move synchronously, but sometimes get out synchronisation, giving rise unsatisfactory weld qualities in problem areas, such as around corners.These mistakes are costly, since time is lost both the robotic manual repairs needed improve weld.Verification has shown that they fulfilled long assumptions correctness made about...