Abstract This paper introduces some aspects of a real-time software specification environment CON... more Abstract This paper introduces some aspects of a real-time software specification environment CONRAD (CONtrol software Requirements, Analysis and Design). The environment is developed to support stepwise description and formal analysis of timing and behavioural properties of embedded systems. Its general architecture and functioning is explained. CONRAD comprises of four functional parts - GOVERNOR, EDITOR, ANIMATOR, and EVALUATOR. Main emphasis of this paper is on the description of EVALUATOR. Measured (by simulation on the sample system prototype) and evaluated (on the specification of the sample system by using analytical formulae) characteristics are compared. The message of this paper is: in many cases analytical methods are preferable to simulational study, especially when checking timing properties and evaluating performance characteristics of real-time, embedded systems.
ABSTRACT Possibility to apply volume bounding box decomposition to surgeon's hand movemen... more ABSTRACT Possibility to apply volume bounding box decomposition to surgeon's hand movements analysis and gesture recognition during laparoscope surgery is explored in this paper. Volume bounding box decomposition allows to approximate non-convex sets by a number of bounding boxes which leads fast and easy way to verify if given point belong to certain set or not. This unique feature is applied to analyze trajectories of surgeon's wrist and recognize different hand gestures.
This paper presents a feasibility study on the usage of Uppaal Timed Automata (UPTA) for delibera... more This paper presents a feasibility study on the usage of Uppaal Timed Automata (UPTA) for deliberative level robotic control. The study is based on the Scrub Nurse Robot case-study. Our experience confirms that UPTA model based control enables the control loop to be defined and maintained during the robot operation autonomously with minimum human intervention. Specifically, in our robot architecture the control model is constructed automatically using unsupervised learning. Correctness of the model is verified on-the-fly against safety, reachability, and performance requirements. Finally, it is demonstrated that UPTA model based robot control, action planning and model updates have natural implementation based on existing model execution and conformance testing tool Uppaal Tron.
ABSTRACT Testing as main quality assurance activity in industrial software intensive systems deve... more ABSTRACT Testing as main quality assurance activity in industrial software intensive systems development constitutes up to 50% of development effort. In contrast to traditional office software development practice the specification and running of test suites for distributed and embedded systems sets even higher cost margin and motivates an active research on better test specification languages and tools in test automation domain. Another motivator of this study is practical test engineering that covers both the usability aspects as well as solid theoretical foundations to provide algorithmic support and trustable results. We focus on the design and implementation issues of a test scenario specification language that together with a language for modelling Systems Under Test constitutes the core of our model-based testing framework.
Abstract This paper introduces some aspects of a real-time software specification environment CON... more Abstract This paper introduces some aspects of a real-time software specification environment CONRAD (CONtrol software Requirements, Analysis and Design). The environment is developed to support stepwise description and formal analysis of timing and behavioural properties of embedded systems. Its general architecture and functioning is explained. CONRAD comprises of four functional parts - GOVERNOR, EDITOR, ANIMATOR, and EVALUATOR. Main emphasis of this paper is on the description of EVALUATOR. Measured (by simulation on the sample system prototype) and evaluated (on the specification of the sample system by using analytical formulae) characteristics are compared. The message of this paper is: in many cases analytical methods are preferable to simulational study, especially when checking timing properties and evaluating performance characteristics of real-time, embedded systems.
ABSTRACT Possibility to apply volume bounding box decomposition to surgeon's hand movemen... more ABSTRACT Possibility to apply volume bounding box decomposition to surgeon's hand movements analysis and gesture recognition during laparoscope surgery is explored in this paper. Volume bounding box decomposition allows to approximate non-convex sets by a number of bounding boxes which leads fast and easy way to verify if given point belong to certain set or not. This unique feature is applied to analyze trajectories of surgeon's wrist and recognize different hand gestures.
This paper presents a feasibility study on the usage of Uppaal Timed Automata (UPTA) for delibera... more This paper presents a feasibility study on the usage of Uppaal Timed Automata (UPTA) for deliberative level robotic control. The study is based on the Scrub Nurse Robot case-study. Our experience confirms that UPTA model based control enables the control loop to be defined and maintained during the robot operation autonomously with minimum human intervention. Specifically, in our robot architecture the control model is constructed automatically using unsupervised learning. Correctness of the model is verified on-the-fly against safety, reachability, and performance requirements. Finally, it is demonstrated that UPTA model based robot control, action planning and model updates have natural implementation based on existing model execution and conformance testing tool Uppaal Tron.
ABSTRACT Testing as main quality assurance activity in industrial software intensive systems deve... more ABSTRACT Testing as main quality assurance activity in industrial software intensive systems development constitutes up to 50% of development effort. In contrast to traditional office software development practice the specification and running of test suites for distributed and embedded systems sets even higher cost margin and motivates an active research on better test specification languages and tools in test automation domain. Another motivator of this study is practical test engineering that covers both the usability aspects as well as solid theoretical foundations to provide algorithmic support and trustable results. We focus on the design and implementation issues of a test scenario specification language that together with a language for modelling Systems Under Test constitutes the core of our model-based testing framework.
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Papers by Jüri Vain