Model-checking real-time control programs: verifying LEGO® MINDSTROMS™ system using UPPAL

Authors:
Torsten K. Iversen;Kåre J. Kristoffersen;Kim G. Larsen;Morten Laursen;Rune G. Madsen;Steffen K. Mortensen;Paul Pettersson;Chris B. Thomasen
Affiliations:
BRICS, Department of Computer Science, Aalborg University, Aalborg East, Denmark;BRICS, Department of Computer Science, Aalborg University, Aalborg East, Denmark;BRICS, Department of Computer Science, Aalborg University, Aalborg East, Denmark;BRICS, Department of Computer Science, Aalborg University, Aalborg East, Denmark;BRICS, Department of Computer Science, Aalborg University, Aalborg East, Denmark;BRICS, Department of Computer Science, Aalborg University, Aalborg East, Denmark;BRICS, Department of Computer Science, Aalborg University, Aalborg East, Denmark;BRICS, Department of Computer Science, Aalborg University, Aalborg East, Denmark
Venue:
Euromicro-RTS'00 Proceedings of the 12th Euromicro conference on Real-time systems
Year:
2000

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Abstract

In this paper, we present a method for automatic verification of real-time control programs running on LEGO® RCX™ bricks using the verification tool UPPAAL. The control programs, consisting of a number of tasks running concurrently, are automatically translated into the timed automata model of UPPAAL. The fixed scheduling algorithm used by the LEGO® RCX™ processor is modeled in UPPAAL, and supply of similar (sufficient) timed automata models for the environment allows analysis of the overall real-time system using the tools of UPPAAL. To illustrate our techniques we have constructed, modeled and verified a machine for sorting LEGO® bricks by color.