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בלמס1This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd
LAHAV Division
Conceptual Modeling and Simulation of Autonomous Ground Systems
Conceptual Modeling and Simulation of Autonomous Ground Systems
Amira Sharon
IAI, Israeli Aerospace Industries
Israel
Sergey Bolshchikov
Technion, Israel Institute of Technology
Haifa 32000
Aharon Renick
Technion, Israel Institute of Technology
Haifa 32000
Dov Dori
Technion, Israel Institute of Technology
Haifa 32000, Israel, and
Massachusetts Institute of Technology, Cambridge, MA
בלמס2
This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd
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Joint LAHAV-Technion Research ProjectJoint LAHAV-Technion Research Project
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Joint LAHAV-Technion Research ProjectJoint LAHAV-Technion Research Project
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Collaboration with the Faculty of Industrial Engineering and ManagementCollaboration with the Faculty of Industrial Engineering and Management
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Project Goals and OutputsProject Goals and Outputs
• Advancing modeling and simulating methodology for autonomous systems by demonstrating modeling and simulating of a ground autonomous system conceptual design.
• A simulated conceptual model of the autonomous system to support understanding and validating the complex relationships between the needs and the designed autonomous system solution.
• a potential common language as means for improving communication and mutual understanding of the system-to-be (as a large number of stakeholders are involved in developing systems of this nature).
בלמס6
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Six leading MBSE methodologies (INCOSE Task, Estefan, 2008 p 43)Six leading MBSE methodologies (INCOSE Task, Estefan, 2008 p 43)
• IBM Telelogic Harmony-SE
• INCOSE Object-Oriented Systems Engineering Method (OOSEM)
• IBM Rational Unified Process for Systems Engineering (RUP SE) for
Model-Driven Systems Development (MDSD)
• Vitech Model-Based System Engineering (MBSE) Methodology
• JPL State Analysis (SA)
• Object-Process Methodology (OPM)Dov Dori, Object-Process Methodology - A Holistic Systems Paradigm, Springer Verlag, Berlin, Heidelberg, New York, 2002 (ISBN 3-540-65471-2; Foreword by Edward Crawley. Hard cover, 453 pages, with CD-ROM).
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LAHAV Division7
OPM as a basis for CMSASOPM as a basis for CMSAS
What is OPM?
OPM is a holistic approach to the study and development of systems
OPM unifies the system’s structure and behavior within a single frame of reference, using a relatively small vocabulary
Designed for systems engineering from the outset
Conceptual Modeling and Simulation of Autonomous Systems
בלמס8
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The Key to OPM: Telling processes from objects and modeling them concurrentlyThe Key to OPM: Telling processes from objects and modeling them concurrently
conceived reality modeled reality
Is modeled by
Bus
Aircraft
Vehicle
Gas Filling
Is modeled by
Is modeled by
The model expresses real things – objects and processes – and relations among them.
is a
is a
affects
Object
Process
Energy
Replenishing
is
Car
בלמס9
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LAHAV Division
OPMOPM
Object Process Methodology
Connected using Structural Links
Connected using Procedural Links
Objects are required by Processes
Processes yield Objects or change
their states Connected using Structural Links
בלמס10
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Demonstration Case Study Demonstration Case Study
The demonstration case study is TALOS, an EU 7th Framework Program project, whose objective is to develop and field-test a mobile, modular, scalable, autonomous and adaptive border protection system.
TALOS – Transportable Autonomous patrol for Land bOrder Surveillance system Within FP7 EU programs
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TALOS – Transportable Autonomous patrol for Land bOrder Surveillance system Within FP7 EU programs
EU 7th Framework Programme (Priority: Security)Category – Integrated Project (IP)
Budget – 20 mln EuroEC contribution – 13 mln EuroDuration: 2008 – 2012
Objective – develop and field test the innovative concept of a mobile, modular, scalable, autonomous and adaptive system for borders protectionResult – technology demonstrator
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TALOS ArchitectureTALOS Architecture
Flying-Cam's Ground Control
Station
Control Trailer
UAV
INTERCEPTORPATROLER
UGV OCUs
WiMAX comm
7 KM7 KM
Headquarter
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Field Control Trailer section A
Field Control Trailer Section B
Headquarters
USV PATROL
UAV
Array Of Sensors
Routine Behavior
UGV PATROL
Network Communication
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INTRUDER INTERCEPTOR UGV
Intruder Scenario
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INTRUDER
Neutralization of Explosive Charge
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Back to OPMBack to OPM
Object Process Methodology
Connected using Structural Links
Connected using Procedural Links
Objects are required by Processes
Processes yield Objects or change
their states Connected using Structural Links
בלמס17
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System Diagram (SD)System Diagram (SD)
OPDOPL
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Hierarchical Consistent ModelHierarchical Consistent Model
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SD1 – Border Observing & InterceptingSD1 – Border Observing & Intercepting
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SD1.1 – Mission ExecutingSD1.1 – Mission Executing
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SD1.1.1 – InterceptingSD1.1.1 – Intercepting
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SD1.1.1 – Interception ExecutingSD1.1.1 – Interception Executing
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SD1.1.1.1 – Interception Procedure ExecutingSD1.1.1.1 – Interception Procedure Executing
Chemical, biological, radiological, and nuclear
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Unfold ViewsUnfold Views
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Unfold ViewsUnfold Views
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Testing View 1Testing View 1
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Testing View 2Testing View 2
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Testing View 3Testing View 3
UGV Deploying
Strategic Mission PlanningStrategic
Mission Plan
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Testing View 4Testing View 4
Platform Mission Planning & Triggering
Strategic Mission PlanningStrategic
Mission Plan
deployed
stored