This paper proposes a model-based test generation approach for programmable controllers that aims at reducing the length of a test sequence by applying plant features. The proposed approach does not require detailed or full knowledge of the plant behavior of a system under test, but it can achieve a remarkable reduction with simple plant features. As a result, the obtained test sequence can be significantly shorter than ones generated by complete testing methods; and meanwhile, it still reaches full coverage of the nominal behavior of the system under test. This makes it feasible to test large-scale systems, or to serve as an early test in the validation of safety critical systems. The proposed approach has been illustrated on a large-scale case study.
The field of reconfigurable and cooperative robotics is attracting increasingly widespread attention in industry. The reasons for this are the many advantages of such systems over traditional fixed configuration single arm robots, such as their adaptability to changing tasks and superior stiffness properties. This paper presents a solution scheme for a computational calculation of the joint variables and Jacobian of arbitrarily configured modular cooperating robots for the task of object integrated manipulation. The system architecture is defined and a calculation procedure which takes into consideration possible kinematic redundancy as well as actuator constraints is implemented and then validated on a representative example.
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