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dc.contributor.authorNavarro-López, EM
dc.contributor.authorO’Toole, MD
dc.date.accessioned2021-02-17T11:15:32Z
dc.date.available2021-02-17T11:15:32Z
dc.date.issued2017-08-29
dc.identifier.citationNavarro-López, E.M. and O'Toole, M.D. (2017) Automated generation of hybrid automata for multi-rigid-body mechanical systems and its application to the falsification of safety properties. Mathematical and Computer Modelling of Dynamical Systems, 24(1), pp. 44-75.en
dc.identifier.issn1387-3954en
dc.identifier.doi10.1080/13873954.2017.1369437en
dc.identifier.urihttp://hdl.handle.net/2436/623938
dc.description© 2017 The Authors. Published by Taylor & Francis. This is an open access article available under a Creative Commons licence. The published version can be accessed at the following link on the publisher’s website: https://doi.org/10.1080/13873954.2017.1369437en
dc.description.abstractWhat if we designed a tool to automatically generate a dynamical transition system for the formal specification of mechanical systems subject to multiple impacts, contacts and discontinuous friction? Such a tool would represent an advance in the description and simulation of these complex systems. This is precisely what this paper offers: Dyverse Rigid Body Toolbox (DyverseRBT). This tool requires a sufficiently expressive computational model that can accurately describe the behaviour of the system as it evolves over time. For this purpose, we propose an alternative abstraction of multi-rigid-body (MRB) mechanical systems with multiple contacts as an extended version of the classical hybrid automaton, which we call MRB hybrid automaton. One of the chief characteristics of the MRB hybrid automaton is the inclusion of computation nodes to encode algorithms to calculate the contact forces. The computation nodes consist of a set of non-dynamical discrete locations, discrete transitions and guards between these locations, and resets on transitions. They can account for the energy transfer not explicitly considered within the rigid-body formalism. The proposed modelling framework is well suited for the automated verification of dynamical properties of realistic mechanical systems. We show this by the falsification of safety properties over the transition system generated by DyverseRBT.en
dc.description.sponsorshipThis work was supported by the Engineering and Physical Sciences Research Council (EPSRC) of the UK: [Grant Number EP/I001689/1] (‘DYVERSE: A New Kind of Control for Hybrid Systems’), and the Research Councils UK (RCUK): [Grant Number EP/E50048/1].en
dc.formatapplication/pdfen
dc.languageen
dc.language.isoenen
dc.publisherTaylor & Francisen
dc.relation.urlhttps://www.tandfonline.com/doi/full/10.1080/13873954.2017.1369437en
dc.subjecthybrid systemsen
dc.subjecthybrid automata modelsen
dc.subjectdesign automationen
dc.subjectcomputational methodsen
dc.subjectcomputer simulationen
dc.titleAutomated generation of hybrid automata for multi-rigid-body mechanical systems and its application to the falsification of safety propertiesen
dc.typeJournal articleen
dc.identifier.eissn1744-5051
dc.identifier.journalMathematical and Computer Modelling of Dynamical Systemsen
dc.date.updated2021-02-15T16:11:39Z
dc.date.accepted2017-08-16
rioxxterms.funderEngineering and Physical Sciences Research Councilen
rioxxterms.identifier.projectEP/I001689/1en
rioxxterms.identifier.projectEP/E50048/1en
rioxxterms.versionVoRen
rioxxterms.licenseref.urihttps://creativecommons.org/licenses/by/4.0/en
rioxxterms.licenseref.startdate2021-02-17en
dc.source.volume24
dc.source.issue1
dc.source.beginpage44
dc.source.endpage75
dc.description.versionPublished version
refterms.dateFCD2021-02-17T11:14:49Z
refterms.versionFCDVoR
refterms.dateFOA2021-02-17T11:15:32Z


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