Arizona s First University. Model Based Systems Engineering. Prof. Jonathan Sprinkle, ECE

Size: px

Start display at page:

Download "Arizona s First University. Model Based Systems Engineering. Prof. Jonathan Sprinkle, ECE"

Debra Weaver
6 years ago
Views:

1 Arizona s First University. Model Based Systems Engineering Prof. 1

2 Nature/Nurture!"#$"%"&!"#$%&'#()*+,*-./#,+&"#. Originally from Northeast TN, Southwest VA Graduated from Tennessee Tech, 1999 Double major: EE, CompE (1 st ever) Earned stripes as an engineer Graduate School at Vanderbilt University Masters Degree, 2000 PhD, 2003 Learned science of formal modeling Postdoc at UC Berkeley Cut teeth on application problems Executive Director of Center for Hybrid and Embedded Software Systems (Chess) Earned perspective on big picture Abstractions Applications 2

3 These computers these days Thanks to Gabor Karsai and Janos Sztipanovits for the inspiration for this slide. 3

4 These computers these days Embedded systems are used for many kinds of purposes and products Fault diagnostics Onboard/autonomous strategies Medical devices Sensor networks Mobile phones Tricky part: software is I. Nontrivial II. Unpredictable III. Uncomposable IV. I and II V. II and III VI. I, II, and III Thanks to Gabor Karsai and Janos Sztipanovits for the inspiration for this slide. 3

5 Domain-Specific Design: An abstract view Domain Concepts Unrestricted Implementation 4

6 Domain-Specific Design: An abstract view Domain Concepts Unrestricted Implementation 4

7 Domain-Specific Design: An abstract view Domain Concepts 5

8 Domain-Specific Design: An abstract view Domain Concepts Defns of Domain Assumptions and Givens 5

9 Domain-Specific Code Generators Domain Instance 6

10 Domain-Specific Code Generators DS Code Generator Domain Instance 6

11 Domain-Specific Design: Analysis Advantages: Infer execution structure from domain assumptions Reduce implementation-layer design/input errors Keep implementation details flexible Check design constraints during design Restrict User s Implementation Space Disadvantages: Learning curve for design environment Time to build design environment Re-use cost Domain Instance 7

12 Closing the loop: Metamodels Metamodeling Environment Environment Evolution Application Evolution Application Domain Formal Specifications App. 1 App. 2 App. 3 DS Modeling Environment Meta-Level Translation Model Builder Models Model Interpretation Model Interpreters 8

Applications With J. Mikael Eklund, H. Jin Kim, Shankar Sastry SEC Capstone Demonstration Pursuit/Evasion of fixed-wing aircraft Joint work with Dr. Mike Eklund, Dr. Jin Kim, Prof.

Shankar Sastry, "Implementing and Testing a Nonlinear Model Predictive Tracking Controller for Aerial Pursuit Evasion Games on a Fixed Wing Aircraft", Proceedings of American Control Conference (ACC)

13 Applications With J. Mikael Eklund, H. Jin Kim, Shankar Sastry SEC Capstone Demonstration Pursuit/Evasion of fixed-wing aircraft Joint work with Dr. Mike Eklund, Dr. Jin Kim, Prof. Shankar Sastry [1] J. Mikael Eklund, Jonathan Sprinkle, S. Shankar Sastry, "Implementing and Testing a Nonlinear Model Predictive Tracking Controller for Aerial Pursuit Evasion Games on a Fixed Wing Aircraft", Proceedings of American Control Conference (ACC) 2005, , Portland, OR, Jun., 8 10, [2] Jonathan Sprinkle, J. Mikael Eklund, H. Jin Kim, S. Shankar Sastry, "Encoding Aerial Pursuit/Evasion Games with Fixed Wing Aircraft into a Nonlinear Model Predictive Tracking Controller", Proceedings of the 43rd IEEE Conference on Decision and Control, vol. 3, , Nassau, Bahamas, Dec., 14 17,

14 Constraints/Rules With J. Mikael Eklund, H. Jin Kim, Shankar Sastry Ingress Endpoint 10

15 Application Results: VIP Warm-up Day With J. Mikael Eklund, H. Jin Kim, Shankar Sastry 11

16 Application Results: VIP Warm-up Day With J. Mikael Eklund, H. Jin Kim, Shankar Sastry 11

17 Application Results: VIP Day With J. Mikael Eklund, H. Jin Kim, Shankar Sastry 12

18 Application Results: VIP Day With J. Mikael Eklund, H. Jin Kim, Shankar Sastry 12

19 Application Results: VIP Day With J. Mikael Eklund, H. Jin Kim, Shankar Sastry Pilot: The autonomous vehicle behaved just like a pilot out of flight school 12

20 Application Results: VIP Day With J. Mikael Eklund, H. Jin Kim, Shankar Sastry Pilot: The autonomous vehicle behaved just like a pilot out of flight school Me: The pilot could not tell whether it was a human or computer flying 12

Applications With Aaron D. Ames, J. Mikael Eklund, Ian M. Mitchell, Shankar Sastry SEC Capstone Demonstration Landing/Wave-off scenario (safety calculation) Joint work with Dr. Mike Eklund, Dr.

21 Applications With Aaron D. Ames, J. Mikael Eklund, Ian M. Mitchell, Shankar Sastry SEC Capstone Demonstration Landing/Wave-off scenario (safety calculation) Joint work with Dr. Mike Eklund, Dr. Ian Mitchell, Prof. Shankar Sastry [3] Jonathan Sprinkle, Aaron D. Ames, J. Mikael Eklund, Ian Mitchell, S. Shankar Sastry, "Online Safety Calculations for Glideslope Recapture", Innovations in Systems and Software Engineering, vol. 1, no. 2, pp , Sep [4] Jonathan Sprinkle, J. Mikael Eklund, S. Shankar Sastry, "Deciding to Land a UAV Safely in Real Time", Proceedings of American Control Conference (ACC) 2005, , Portland, OR, Jun. 8 10,

22 Motivating Example A UAV is waved off, and then after some time redirected to land With Aaron D. Ames, J. Mikael Eklund, Ian M. Mitchell, Shankar Sastry Can the decision to safely land: - be made in real time? - be guaranteed as true? 14

23 Implementation and Results With Aaron D. Ames, J. Mikael Eklund, Ian M. Mitchell, Shankar Sastry Initial Runway 15

24 Implementation and Results With Aaron D. Ames, J. Mikael Eklund, Ian M. Mitchell, Shankar Sastry All pieces fit together, step size changes by power of 10 to match required resolution [0,3) [3,10) 16

25 Scenario: Mixed-Initiative UAVs (e.g., AAR) With Claire Tomlin, Shankar Sastry 17

Communication Passenger Comfort settings Drivetrain communication Computational and control units

26 Other Applications: Automotive Comms Supplemental Restraint System Force Feedback Entertainment Options Traction Control Software-enabled Emissions Reduction Weight Reduction Wireless Communication Passenger Comfort settings Drivetrain communication Computational and control units (ECUs) must be composable. Increasing numbers make communication difficult, and provable confidence elusive. 18

27 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/ 19

28 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/ 19

29 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/

30 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/

31 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/

32 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/

33 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/

34 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/

35 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/

36 Autonomous Vehicles!"#$%"&'%()%*%" +(,-,$./0%12/

37 Other Applications: Led by J. Mikael Eklund, Shankar Sastry 21

38 Other Applications: Led by J. Mikael Eklund, Shankar Sastry 21

39 More Reading [1] J. Mikael Eklund, Jonathan Sprinkle, S. Shankar Sastry, "Implementing and Testing a Nonlinear Model Predictive Tracking Controller for Aerial Pursuit Evasion Games on a Fixed Wing Aircraft", Proceedings of American Control Conference (ACC) 2005, , Portland, OR, Jun. 8 10, [2] Jonathan Sprinkle, J. Mikael Eklund, H. Jin Kim, S. Shankar Sastry, "Encoding Aerial Pursuit/Evasion Games with Fixed Wing Aircraft into a Nonlinear Model Predictive Tracking Controller", Proceedings of the 43rd IEEE Conference on Decision and Control, vol. 3, , Nassau, Bahamas, Dec , [3] Jonathan Sprinkle, Aaron D. Ames, J. Mikael Eklund, Ian Mitchell, S. Shankar Sastry, "Online Safety Calculations for Glideslope Recapture", Innovations in Systems and Software Engineering, vol. 1, no. 2, pp , Sep [4] Jonathan Sprinkle, J. Mikael Eklund, S. Shankar Sastry, "Deciding to Land a UAV Safely in Real Time", Proceedings of American Control Conference (ACC) 2005, , Portland, OR, Jun. 8 10, [5] Jonathan Sprinkle, "Model-Integrated Computing", IEEE Potentials, vol. 23, no. 1, pp , Feb [6] Jonathan Sprinkle, "Generative Components for Hybrid Systems Tools", J. of Obj. Tech., vol. 4, no. 3, pp , Apr

40 Thanks! 23

NITI MINI UNMANNED AIR VEHICLE. BULCOMERS KS Ltd

NITI MINI UNMANNED AIR VEHICLE BULCOMERS KS Ltd Unmanned air vehicle, model NITI The NITI (UAV) was designed in 2006 by a team of Bulgarian experts with considerable skill in design and construction of