 Deontic logic-based frameworks can also be used in a fashion that is analogous to moral self-reflection. In this mode, logic-based verification of the robot’s internal modules can done before the robot ventures out into the real world. Govindarajulu and Bringsjord (2015) present an approach, drawing from formal-program verification, in which a deontic-logic based system could be used to verify that a robot acts in a certain ethically-sanctioned manner under certain conditions. Since formal-verification approaches can be used to assert statements about an infinite number of situations and conditions, such approaches might be preferred to having the robot roam around in an ethically-charged test environment and make a finite set of decisions that are then judged for their ethical correctness. More recently, Govindarajulu and Bringsjord (2017) use a deontic logic to present a computational model of the  Doctrine of Double Effect,  an ethical principle for moral dilemmas that has been studied empirically and analyzed extensively by  philosophers.[35]  The principle is usually presented and motivated via dilemmas using trolleys and was first presented in this fashion by Foot (1967). 