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dc.contributor.authorMurray, Yvonne
dc.contributor.authorSirevåg, Martin
dc.contributor.authorRibeiro, Pedro
dc.contributor.authorAnisi, Alireza David
dc.contributor.authorMossige, Morten
dc.date.accessioned2022-02-10T12:19:43Z
dc.date.available2022-02-10T12:19:43Z
dc.date.created2021-12-27T11:53:41Z
dc.date.issued2021
dc.identifier.citationScience of Computer Programming. 2022. 216en_US
dc.identifier.issn0167-6423
dc.identifier.urihttps://hdl.handle.net/11250/2978239
dc.description.abstractAs a general trend in industrial robotics, an increasing number of safety functions are being developed or re-engineered to be handled in software rather than by physical hardware such as safety relays or interlock circuits. This trend reinforces the importance of supplementing traditional, input-based testing and quality procedures which are widely used in industry today, with formal verification and model-checking methods. To this end, this paper focuses on a representative safety-critical system in an ABB industrial paint robot, namely the High-Voltage electrostatic Control system (HVC). The practical convergence of the high-voltage produced by the HVC, essential for safe operation, is formally verified using a novel and general co-verification framework where hardware and software models are related via platform mappings. This approach enables the pragmatic combination of highly diverse and specialised tools. The paper's main contribution includes details on how hardware abstraction and verification results can be transferred between tools in order to verify system-level safety properties. It is noteworthy that the HVC application considered in this paper has a rather generic form of a feedback controller. Hence, the co-verification framework and experiences reported here are also highly relevant for any cyber-physical system tracking a setpoint reference.en_US
dc.language.isoengen_US
dc.subjectVerifikasjonen_US
dc.subjectVerificationen_US
dc.subjectRobotikken_US
dc.subjectRoboticsen_US
dc.subjectFormelle metoderen_US
dc.subjectFormal methodsen_US
dc.titleSafety assurance of an industrial robotic control system using hardware/software co-verificationen_US
dc.typeJournal articleen_US
dc.typePeer revieweden_US
dc.description.versionpublishedVersionen_US
dc.subject.nsiVDP::Teknisk kybernetikk: 553en_US
dc.subject.nsiVDP::Technical cybernetics: 553en_US
dc.subject.nsiVDP::Teknisk kybernetikk: 553en_US
dc.subject.nsiVDP::Technical cybernetics: 553en_US
dc.source.volume216en_US
dc.source.journalScience of Computer Programmingen_US
dc.identifier.doi10.1016/j.scico.2021.102766
dc.identifier.cristin1972175
dc.relation.projectNorges forskningsråd: 237896en_US
cristin.ispublishedtrue
cristin.fulltextpreprint
cristin.fulltextpostprint
cristin.fulltextoriginal
cristin.qualitycode2


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