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. 2021 Dec 10;8:758099. doi: 10.3389/frobt.2021.758099

FIGURE 9.

FIGURE 9

Example of a safety predicate used for verification, expressed as a temporal logic formula. It ensures that if at any time in the events trace hazard HC occurs in the work cell, as defined by the safety analysis, it is later mitigated by the safety controller. It cannot be ignored, or let to disappear unacknowledged.