Slide 1 WP34 – On-line verification and incremental behaviour testing J.Bicevskis, A.Gaujens, J.Kalnins, I.Oditis (IMCS)

Slide 2 Zinātniskie rezultāti ARTEMIS Joint Undertaking tika novērtējis R3-COP projektu ar balvu ARTEMIS Recognition Award 2013

Slide 3 Termiņi, finansējums  R5-COP ir viens no 4 projektiem, kurus akceptēja trešajā ARTEMIS konkursā (2014).  36 mēneši  =>  Projekta finansējums 2014.gadā – 2,195 milj. Eiro  Latvijas līdzfinansējums – Eiro  Dalībnieki

Slide 4 Dalībnieki 1 TECHNISCHE UNIVERSITAT BRAUNSCHWEIG TUBS Germany 2 ALTEN NEDERLAND BV ALT Netherlands 3 BUDAPESTI MUSZAKI ES GAZDASAGTUDOMANYI EGYETEM BME Hungary 4 Vysoke uceni technicke v Brne BUT Czech Republic 5 CAMEA, spol. s r.o. CAM Czech Republic 6 DSI DIGITALE SIGNALVERARBEITUNGSSYSTEME & INFORMATIONSTECHNIK GMBH DSI Germany 7 TEKNOLOGISK INSTITUT DTI Denmark 8 EMTE S.L.U. EMTE Spain 9 FRIEDRICH-ALEXANDER-UNIVERSITAT ERLANGEN NURNBERG FAU Germany 10 Stichting Hogeschool Utrecht HUT Netherlands 11 LATVIJAS UNIVERSITATES MATEMATIKAS UN INFORMATIKAS INSTITUTS IMCS Latvia 12 KEBA AG KEBA Austria 13 LULEA TEKNISKA UNIVERSITET LTU Sweden

Slide 5 Dalībnieki 14 MOBILE INDUSTRIAL ROBOTS ApS MIR Denmark 15 NORGES TEKNISK-NATURVITENSKAPELIGEUNIVERSITET NTNU NTNU Norway 16 PRZEMYSLOWY INSTYTUT AUTOMATYKI I POMIAROW PIAP PIAP Poland 17 PROBOT OY PRO Finland 18 PROFIN OY PFI Finland 19 Robomotive ROB Netherlands 20 STICHTING SAXION SAX Netherlands 21 STIFTELSEN SINTEF SIN Norway 22 SIIPOTEC OY SPT Finland 23 SWEDISH SPACE CORPORATION SSC Sweden 24 STATOIL PETROLEUM AS STL Norway 25 Synapticon GmbH SYN Germany 26 TEKNOSAVO OY TEK Finland 27 FUNDACION TECNALIA RESEARCH & INNOVATION TRI Spain 28 TELLENCE TECHNOLOGIES SRL TTS Romania

Slide 6 Dalībnieki 29 TECHNISCHE UNIVERSITEIT EINDHOVEN TUE Netherlands 30 UNIVERSITATEA TEHNICA CLUJ-NAPOCA UTC Romania 31 TEKNOLOGIAN TUTKIMUSKESKUS VTT VTT Finland

Slide 7 Projekta struktūra WP 11 Application Requirements WP 12 Seamless interfacing WP 13 Dealing with Configurability WP 21 High-performance embedded computing platform WP 22 Environment sensors WP 23 Actuation and manipulation76.00 WP 24 Human/Machine interface WP 25 Perception and localization WP 26 Reasoning and adaptation WP 31 Middleware WP 32 Fault and reliability analysis WP 34 On-line verification and incremental behavior testing 64.00

Slide 8 Projekta struktūra WP 35 Design and development tools WP 36 Modular Link Framework WP 41 ­ Industrial robots WP 42 Professional service robots WP 43 Field Robots WP 44 Flexible re-configurable mobile logistics robots WP 91 Coordination and Management 8.00 WP 92 Standardization and Certification 2.00 WP 93 Dissemination, exploitation, standardization and certification 61.00

Slide 9 WP 34.1 – WP34.5 This work package aims at supporting the off-line and on-line verification of the behavior of reconfigurable R5-COP systems by elaborating methods and tools for incremental testing and runtime monitoring. Incremental testing focuses on checking the permanent effects of reconfiguration on basic safety and robustness properties, while runtime monitoring focuses also on checking the effects of runtime errors, this way also supervising error handling and self- healing policies.

Slide 10 Runtime monitoring Runtime monitoring addresses the detection of errors and malfunctions that manifest themselves in runtime (e.g., due to random hardware faults, configuration faults, operator faults, faults in adaptation and self-healing). A technology is to be developed that allows automated construction of hardware and software monitors to check formally specified system properties. The monitors perform on-line checking and state classification to decide whether the specified properties are satisfied.

Slide 11 Runtime monitoring Task 34.4: On-line V&V using SIL methodology (Lead: IMCS) On-line V&V will be used in a Software-In-the-Loop (SIL) approach to check the collaboration between autonomous Rotorcraft Unmanned Aerial Vehicles (RUAV) and Wireless Sensor Networks (WSN). The monitoring algorithms will be implemented and validated in this environment.

Slide 12 R5-COP demonstration 1. Outdoor demonstration, will execute a mission - RUAV after receiving a call from WSN (Wireless Sensor Network) node flies to WSN node using GPS coordinates, visually finds the node and after going closer to node, will receive actual info from WSN node which will be transferred to GCS 2. According the outdoor demonstration SIL model is developed, in which software will be developed and tested, including mission code and communication protocols. SIL model will be demonstrated on LAN, which will consist of MATLAB/Simulink models for RUAV and GCS and virtual reality model for RUAV developed in Unity3D

Slide 13 Simulācijas modelis

Slide 14  inertial measurement unit (IMU) - an electronic device that measures and reports a craft's velocity, orientation, and gravitational forces, using a combination of accelerometers and gyroscopes and magnetometers;  GPS - Global Positioning System;  visual positioning;  programmable autonomous control with processing power to do video image processing;  moving camera looking down;  moving camera looking forward;  GSM-based bonding communication device;  WSN node. The Localization System for UAV

Slide 15 Pelican hardware

Slide 16 Technological approach

Slide 17 Software deployment on the Pelican target

Slide 18 Visualization Current  the environment is procedurally generated and resembles real world  Supports simulation of many RUAVs if a powerful enough computer is given Future Importing of point cloud data from real world for development and testing of real missions that could be run as is in both real and simulated worlds Improvement of physical model of the RUAV to be closer to real world Creation of a system where other types of RUAVs can be easily added and modified

Slide 19 Virtuall reality example

Slide 20 Simulācijas modelis

Slide 21 Simulācijas modelis DEMO

Thank you for your attention We value your opinion and questions R5-COP Resilient Reasoning Robotic Co-operating Systems