  One of the main barriers preventing widespread use of formal methods is the
elicitation of formal specifications. Formal specifications facilitate the
testing and verification process for safety critical robotic systems. However,
handling the intricacies of formal languages is difficult and requires a high
level of expertise in formal logics that many system developers do not have. In
this work, we present a graphical tool designed for the development and
visualization of formal specifications by people that do not have training in
formal logic. The tool enables users to develop specifications using a
graphical formalism which is then automatically translated to Metric Temporal
Logic (MTL). In order to evaluate the effectiveness of our tool, we have also
designed and conducted a usability study with cohorts from the academic student
community and industry. Our results indicate that both groups were able to
define formal requirements with high levels of accuracy. Finally, we present
applications of our tool for defining specifications for operation of robotic
surgery and autonomous quadcopter safe operation.
