Formalized Requirements in SLEEC DSL language

The stakeholders corrections after analyzing the well-formedness of the rules using our N-Tool are commented and in blue.

def_start

	// Events

	event RobotMoving //Includes arm and base movement

	event RobotWorking

	event RobotContinueTask

	event RobotStopAction

	event AvoidBumping

	event AdjustRoute

	event InquireSafety

	event AccountHumanRandomness

	event TrackHumanLocation

	event InformHuman

	event HumanSaysStop

	event AskPermission

	event MoveAtSafeSpeed

	event IncreaseSpeed

	event PreparingRobot

	event AssignToRobot

	event AssignLiability

	event ConsiderAppearance

	event ReportIncident

	event MinimizeCobotCollaboration

	event PrioritizeHumans

	//** Added events during the resolution process 

	/* event ActionHumanRandom

	/* event Communicate

	/* event MoveAwayFromHuman */


	// measures

	measure humanInRoute: boolean

	measure humanInRange: boolean

	measure bumpHuman: boolean

	measure humanTooClose: boolean

	measure routeAvailable: boolean

	measure humanReEnables: boolean

	measure risk: scale(low, medium, high)

	measure efficiency: scale(elow, emedium, ehigh)

	measure isHumanTask: boolean

	measure humanConsents: boolean

	measure accident: boolean

	measure humansPresent: boolean

	measure obstaclePresent: boolean

def_end


rule_start

	R1 when RobotMoving then AvoidBumping

	unless {humanInRoute} then AdjustRoute

	unless {humanTooClose} then AdjustRoute

	unless {bumpHuman} then InquireSafety


	//** Resolving the concern c2: (ADD a rule: uncomment R1b)

	/* R1b when RobotMoving and ({humanInRange} or ({humanTooClose} or (not {routeAvailable}))) then AvoidBumping

	*************************************************** */



	R2 when RobotMoving then AccountHumanRandomness


	R3 when RobotMoving then TrackHumanLocation


	R4 when RobotWorking then InformHuman


	R4b when RobotWorking then InformHuman


	//** Resolving redundancies comment R4b */


	R5 when HumanSaysStop then RobotStopAction


	R6 when InformHuman then RobotMoving unless {humanInRoute} then AdjustRoute

	unless (not {routeAvailable}) then AskPermission


	R7 when RobotMoving and {humanInRange} then RobotStopAction unless {humanReEnables} then RobotContinueTask


	R8 when RobotMoving then MoveAtSafeSpeed
	 unless (({efficiency} = elow) and ({risk} = low)) then IncreaseSpeed


	R9 when PreparingRobot and {isHumanTask} then not AssignToRobot unless {humanConsents}


	R10 when PreparingRobot then AssignLiability


	R10_1 when PreparingRobot then InformHuman


	R11 when PreparingRobot then ConsiderAppearance


	R12 when PreparingRobot then MinimizeCobotCollaboration


	R12_1 when PreparingRobot then PrioritizeHumans


	R13 when RobotWorking and {accident} then RobotStopAction


	R13_1 when RobotWorking and {accident} then ReportIncident


	R14 when PreparingRobot and {humansPresent} then InformHuman


	//** Resolving redundancy 2 (comment r14, delete rule)

	/* R14v when PreparingRobot and {humansPresent} then Communicate

	*************************************************** */


	R15 when RobotWorking and {obstaclePresent} then ReportIncident


	R15_1 when RobotWorking and {obstaclePresent} then RobotStopAction


	//** Resolving concern c1 (ADD rule R16, uncomment R16)

	/* R16 when RobotWorking and ({humanInRange} or ({bumpHuman} or ({humanTooClose} or (not {routeAvailable})))) then not RobotContinueTask

	*************************************************** */


	//** Resolving concern c4 (ADD rule R17 + event, uncomment R17)

	/* R17 when ActionHumanRandom then RobotStopAction

	*************************************************** */

	//** Resolve concern c5 (ADD rules R18, R19, uncomment R18 and R19)

	/* R18 when ActionHumanRandom then AskPermission

	/* R19 when AskPermission then not RobotMoving

	*************************************************** */


	//** Resolving concern c6 (ADD rule R20, uncomment R20)

	/* R20 when ActionHumanRandom and {routeAvailable} then MoveAwayFromHuman

	*************************************************** */


	//** Resolve concern c7 (ADD rule R21, uncomment R21)

	/* R21 when TrackHumanLocation and {humanTooClose} then InformHuman */