We elaborate on a metamorphic approach for testing industrial control systems. The proposed approach consists of two phases: an exploration phase in which we learn about fault patterns of the system under test and an exploitation phase where the observed fault patterns are used for targeted testing. Our method extracts metamorphic relations and input space of the system from its requirements. The seed input used for testing is extracted from the execution logs of the system and used to generate source tests and follow-up tests automatically. The morphed input is constructed based on the seed input and refined using a set of constraints. The approach is exemplified on a position control system and the results show that it is effective in discovering faults with an increased level of automation.

Agriculture 4.0 aims to use recent advances in technology to enhance productivity and reduce operating costs. In precision feeding systems using robots, farm configuration should support robot maneuvers and precision feeding operations. Such configuration needs to be checked during design and operations to avoid costly modifications and damage to robots. This investigation presents an incremental model- based approach for robot farm runtime configuration management. First, an abstract model of the configuration is generated and its feasibility is verified using model checking. Then, simulation based verification by introducing low-level operational details (robot speed, capacity, etc.) is performed which is used to refine formal verification. Finally, operational correctness in real exploitation conditions is tested against the simulation. Our results show that the proposed incremental validation minimizes the validation time, design space exploration and cost during early stages of design, rather than during operations which could lead to significant cost.

We present a model-based mutation testing approach, for evaluating the authentication and authorization of web services in a multi-user context. Model of a web service and its security requirements are designed using UPPAAL Timed Automata. The model is mutated to create invalid behavior which is used for test generation to reveal faults in the system under test. The approach is supported by a model-based mutation testing tool, µUTA, that automatically generates mutants, selects a collection of suitable mutants for testing and generates test cases from them. We modify a previously defined mutation operator and introduce three new operators for additional mutants. We define criteria for the mutation-selection and demonstrate the approach on a blog web service. Results show that the approach can discover authorization faults that were not detected by traditional methods.

Industry 4.0 aims at highly flexible and digitized model of industrial production that is smarter and more reliable than the current possibilities. This requires vertical integration of different operations in a manufacturing to promote reconfigurable smart factory. This investigation proposes a method to schedule maintenance operations using formal methods considering power balance and production constraints in process industries. First, we provide an optimization model for scheduling maintenance and operation along production schedules. Second, we use timed model checking to schedule maintenance considering various physical and operating constraints. Third, we illustrate the method in a smart aluminium factory. The main contribution of this investigation is the integration of optimization models and formal methods in one framework, which leads to verified production/maintenance schedules and contributes to the objectives of Industry 4.0.

Design-by-Contract approaches have proved essential for the development of complex cyber-physical systems with many parallel and heterogeneous components. The heterogeneity requires separation of design concerns by introducing multi-view contracts to support compositional design and verification. In some model-based development methodologies the alternative design views are supposed to be addressed by different formal methods each being most relevant to a view. In practical design the clean separation of views is not always obvious or even possible due to the dependencies and semantic overlaps between the views. Although the overlap of views introduces some redundancy, it can be turned beneficial for simplifying the design integration if explicitly addressed by the co-use of formal methods. In this paper we specify the component contracts by Event-B and Uppaal Timed Automata used respectively for behavioural and timing views and show how to combine them to merge different views in contracts. Relying on our previous results on the mapping between Event-B and Uppaal Timed Automata we extend this mapping to views of a contract and provide the verification conditions for each view separately as well as for their compatibility. We demonstrate the relevance of the approach with a Multi Robot System coordination case-study addressing the interdependencies of behavioural and timing constraints exposed in the cooperative multi-robot coverage problem.

In the paper a problem of analyzing surgeon's right hand wrist trajectory during laparoscopic operation is considered. Based on the results of the analysis detection algorithms to recognize six motions are developed. The motions can be considered as primitives of a surgery from the human scrub nurse point of view. In the analysis, to represent motions the third order polynomials are used. The two proposed algorithms are based on Kohonen maps and boosted decision trees. The performance of the algorithms is tested on surgical operation data.

Segmentation of the surgeon’s hand movements during the surgery into more primitive parts and recognition of those parts using Kohonen map is discussed in present paper. Main advantages of the proposed approach are that it allows to take into account dynamical characteristics of the hand movements and exclude probability of human error in building etalon segmentation. Ability to recognize current action of the surgeon has a crucial importance in developing a robot able to assist surgeon during the endoscopic surgical operation. One of the possible ways is to predefine a set of possible surgeon’s actions and provide a recognition algorithm explored in the framework of present contribution.

We describe a model-based construction of an online tester for black-box testing of the implementation under test(IUT). The external behaviour of the IUT is modelled as an output observable nondeterministic EFSM with the assumption that all transition paths are feasible. A test purpose is attributed to the IUT model by a set of Boolean variables called traps that are used to measure the progress of the test run. These variables are associated with the transitions of the IUT model. The situation where all traps have been reached means that the test purpose has been achieved. We present a way to construct a tester that at runtime selects a suboptimal test path from trap to trap by finding the shortest path to the next unvisited trap. The principles of reactive planning are implemented in the form of the decision rules of selecting the shortest paths at runtime. The decision rules are constructed in advance from the IUT model and the test purpose. Preliminary experimental results confirm that this method clearly out performs random choice and is better than the anti-ant algorithm in terms of resultant test sequence length to achieve the test purpose