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Automated generation of hybrid automata for multi-rigid-body mechanical systems and its application to the falsification of safety properties
Published in Mathematical and Computer Modelling of Dynamical Systems, 2018
E.M. Navarro-López, M.D. O’Toole
The automatic generation of MRB hybrid automata is a necessary step in the formal analysis of a complex mechanical system. Moreover, we highlight its useful application in the simulation of MRB systems, in particular with respect to event-driven schemes. For this purpose, we have produced a tool called Dyverse Rigid Body Toolbox (DyverseRBT). The acronym Dyverse corresponds to DYnamically driven VERification of Systems with Energy considerations, and RBT corresponds to Rigid Body Toolbox. DYVERSE is a novel computational–dynamical framework for the modelling, analysis and control of complex systems [28]. DyverseRBT automatically generates the MRB hybrid automaton and its simulation from a mechanical specification given by the user. In other words, DyverseRBT produces a dynamical transition system that defines the computational semantics of the MRB system.