论文标题
人机协作的共同模拟：从时间逻辑到3D模拟
Co-Simulation of Human-Robot Collaboration: from Temporal Logic to 3D Simulation
论文作者
论文摘要
人机合作（HRC）正在迅速取代机器人技术在制造业中的传统应用。机器人和人类操作员不再需要在隔离区域执行任务，并且能够在附近工作并执行混合任务 - 部分由人类和机器人执行。 我们已经在早期的工作[16]中提出了一种方法，以促进和促进正式建模HRC系统，众所周知，这些系统是安全至关重要的。依靠时间逻辑建模功能和自动化模型检查工具，我们建立了一个框架，以正式建模HRC系统并验证人类操作员使用ISO 10218-2 [10]标准的物理安全性。为了使我们提出的正式验证框架对安全工程师更具吸引力，而安全工程师通常不太喜欢正式的建模和验证技术，我们决定将模型检查方法与3D模拟器相结合，以更透明的方式向安全工程师展示了潜在的危险情况。本文使用Morse Simulator [4]和ZOT模型检查器[14]报告了我们的共模拟方法。
Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in close vicinity and performing hybrid tasks -- performed partially by humans and by robots. We have presented a methodology in an earlier work [16] to promote and facilitate formally modeling HRC systems, which are notoriously safety-critical. Relying on temporal logic modeling capabilities and automated model checking tools, we built a framework to formally model HRC systems and verify the physical safety of human operator against ISO 10218-2 [10] standard. In order to make our proposed formal verification framework more appealing to safety engineers, whom are usually not very fond of formal modeling and verification techniques, we decided to couple our model checking approach with a 3D simulator that demonstrates the potential hazardous situations to the safety engineers in a more transparent way. This paper reports our co-simulation approach, using Morse simulator [4] and Zot model checker [14].
