Abstract
ABSTRACTWhat if we designed a tool to automatically generate a dynamical transition system for the formal specification of mechanical systems subject to multiple impacts, contacts and discontinuous friction? Such a tool would represent an advance in the description and simulation of these complex systems. This is precisely what this paper offers: Dyverse Rigid Body Toolbox (DyverseRBT). This tool requires a sufficiently expressive computational model that can accurately describe the behaviour of the system as it evolves over time. For this purpose, we propose an alternative abstraction of multi-rigid-body (MRB) mechanical systems with multiple contacts as an extended version of the classical hybrid automaton, which we call MRB hybrid automaton. One of the chief characteristics of the MRB hybrid automaton is the inclusion of computation nodes to encode algorithms to calculate the contact forces. The computation nodes consist of a set of non-dynamical discrete locations, discrete transitions and guards between these locations, and resets on transitions. They can account for the energy transfer not explicitly considered within the rigid-body formalism. The proposed modelling framework is well suited for the automated verification of dynamical properties of realistic mechanical systems. We show this by the falsification of safety properties over the transition system generated by DyverseRBT.
Highlights
To explore the potential application of our MRB modelling framework and the tool DyverseRBT in automated verification, we produce a method to check in an automated way that some properties are not held for a family of MRB mechanical systems which are subject to multiple contacts, impacts and discontinuous friction and interpreted as MRB hybrid automata
We have presented a novel computational model referred to as the MRB hybrid automaton to fully describe the transitions and operation modes present in a general class of mechanical systems with impacts and friction
Each computation node consists of a set of non-dynamical discrete locations, discrete transitions and guards between these locations, and resets on transitions, which can account for the energy transfer not explicitly considered within the rigid-body formalism
Summary
This paper proposes a novel computational modelling framework that facilitates the automated generation of transition systems of complex mechanical systems for which a fully and clear description is difficult to obtain. The automated generation of the dynamic relationships and discrete transitions of the systems treated here are possible by the proposal of a computational model – called the multi-rigid-body (MRB) hybrid automaton – that can accurately describe the behaviour of the system as it evolves over time. To explore the potential application of our MRB modelling framework and the tool DyverseRBT in automated verification, we produce a method to check in an automated way that some properties are not held for a family of MRB mechanical systems which are subject to multiple contacts, impacts and discontinuous friction and interpreted as MRB hybrid automata. This paper proposes a new way of modelling and simulating of dynamical behaviours of mechanical systems with multiple impacts, contacts and discontinuous friction within the framework of hybrid automata, which is applicable to the analysis of dynamical properties in an automated way.
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