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Conceptual Modeling and Simulation of Autonomous Ground Systems

Conceptual Modeling and Simulation of Autonomous Ground Systems

Amira Sharon

IAI, Israeli Aerospace Industries

Israel

sharon@iai.co.il

Sergey Bolshchikov

Technion, Israel Institute of Technology

Haifa 32000

sergey@bolshchikov.net

Aharon Renick

Technion, Israel Institute of Technology

Haifa 32000

adrenick@gmail.com

Dov Dori

Technion, Israel Institute of Technology

Haifa 32000, Israel, and

Massachusetts Institute of Technology, Cambridge, MA

dori@mit.edu

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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).

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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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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

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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

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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

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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

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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