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Regression testing is the most common method for ensuring the quality of changed software. As UML models are widely used as design blueprints, model-based test case generation techniques can be used in regression test cases generation. However, test cases obtained from these techniques are usually represented as sequences of actions in abstract models, and heavy human efforts are needed to transform them into test cases accepted by software for execution. To reduce this effort, we present an approach to automatically generate executable test cases for regression testing based on activity diagrams. It combines a technique of activity diagrams based regression test cases classification to pick up retestable test cases, and a technique of feedback-directed test cases generation to generate test cases for new behaviors in changed software. We implement the tool MDRTGen to show the performance of the approach. The experiments show the good performance of the approach in improving the efficiency of test cases generation and decreasing the cost in regression testing.