Related papers: Hybrid Simulation Safety: Limbos and Zero Crossing…

For the design and implementation of engineering systems, performing model-based analysis can disclose potential safety issues at an early stage. The analysis of hybrid system models is in general difficult due to the intrinsic complexity…

Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as possible. However, the construction of models that comprise…

The study of controlled hybrid systems requires practical tools for approximation and comparison of system behaviors. Existing approaches to these problems impose undue restrictions on the system's continuous and discrete dynamics.…

Hybrid systems with both discrete and continuous dynamics are an important model for real-world cyber-physical systems. The key challenge is to ensure their correct functioning w.r.t. safety requirements. Promising techniques to ensure…

This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…

Hybrid systems are characterized by the hybrid evolution of their state: A part of the state changes discretely, the other part changes continuously over time. Typically, modern control applications belong to this class of systems, where a…

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…

Industrial human-robot collaborative systems must be validated thoroughly with regard to safety. The sooner potential hazards for workers can be exposed, the less costly is the implementation of necessary changes. Due to the complexity of…

Simulation is an integral part in the process of developing autonomous vehicles and advantageous for training, validation, and verification of driving functions. Even though simulations come with a series of benefits compared to real-world…

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…

Dynamics model learning deals with the task of inferring unknown dynamics from measurement data and predicting the future behavior of the system. A typical approach to address this problem is to train recurrent models. However, predictions…

Formal verification provides strong safety guarantees but only for models of cyber-physical systems. Hybrid system models describe the required interplay of computation and physical dynamics, which is crucial to guarantee what computations…

Modern highly automated and autonomous traffic systems and subsystems require new approaches to test their functional safety in the context of validation and verification. One approach that has taken a leading role in current research is…

Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…

A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…

The design and analysis of systems that combine computational behaviour with physical processes' continuous dynamics - such as movement, velocity, and voltage - is a famous, challenging task. Several theoretical results from programming…

We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…

As in the car industry for quite some time, dynamic simulation of complete vehicles is being practiced more and more in the development of off-road machinery. However, specific questions arise due not only to company structure and size, but…

Systems engineering approaches use high-level models to capture the architecture and behavior of the system. However, when safety engineers conduct safety and reliability analysis, they have to create formal models, such as fault-trees,…

Simulink is widely used in industrial design processes to model increasingly complex embedded control systems. Thus, their formal analysis is highly desirable. However, this comes with two major challenges: First, Simulink models often…