Runtime verification of robotic applications inspecting radioactive environments

Abstract

The growing reliance on robotics for various hazardous applications has created the need for robust and reliable robotic systems, particularly when it comes to inspecting radioactive environments. These inspections therefore require a high degree of safety and accuracy, as they often involve working in close proximity to harmful materials. Runtime Verification (RV) refers to the process of continuously observing and analyzing the behavior of a system during execution to ensure that it adheres to specified properties. Utilizing RV helps in detecting potential violations, inconsistencies, or even failures in the system’s operation, and so providing consistent feedback. An important property that is being monitored consistently is the sensor’s readings, establishing thresholds for radiation levels in order to trigger corrective actions and alarms if the property is violated. A radiation plugin is used to simulate radiation sources, and also a radiation sensor, which is able to calculate the amount of radiation intensity it is encountering. This will help in creating optimal scenarios in order to conduct reliable testing and verification. The open‐source framework ROSMonitoring is exploited to facilitate the application of RV in the context of ROS(Robot Operating System)‐based applications. Customized monitors are integrated through instrumentation, where specific parameters are set in order to specify what type of data is to be monitored for each property specification. By seamlessly integrating these elements, this project establishes a comprehensive framework for runtime verification and analysis in the context of inspecting radioactive environments. This framework empowers robotic systems to deliver robust and reliable performance, ensuring the highest standards of safety, accuracy, and efficiency. The outcomes of this project contribute to advancing the field of robotics, enabling its effective application in various hazardous domains and further solidifying its role in enhancing human safety and well‐being.