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Software Intensive Complex Control Systems

Software Intensive Complex Control Systems. Ricardo Sanz Universidad Politécnica de Madrid Exystence Workshop Machine Consciousness: Complexity Aspects 29th September – 1st October ISI, Torino. Motivation.

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Software Intensive Complex Control Systems

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  1. Software Intensive Complex Control Systems Ricardo SanzUniversidad Politécnica de Madrid Exystence Workshop Machine Consciousness: Complexity Aspects 29th September – 1st October ISI, Torino

  2. Motivation • Control system complexity is continuously increasing and reaching consciousness levels Exystence Workshop / R.Sanz / Torino 2003

  3. Purpose of the Talk • Provide an overview of the field of control systems • Provide an overview on the role of software in control systems • Describe the trends toward conscious controllers Exystence Workshop / R.Sanz / Torino 2003

  4. Contents • Introduction to control systems • Basic control structures • Software−intensive controllers • Complex control systems Exystence Workshop / R.Sanz / Torino 2003

  5. Introduction to control systems A fast overview Exystence Workshop / R.Sanz / Torino 2003

  6. What is Automatic Control ? • Science and technology of artificial autonomy Exystence Workshop / R.Sanz / Torino 2003

  7. Why Autonomy? • Safety: put humans in the safe side • Performance: superhuman speed or tolerances • Size: necessary miniaturization • Economy: humans should be paid • ... today, “total” autonomy is not (economically) advisable for a complex system Exystence Workshop / R.Sanz / Torino 2003

  8. Automatic Control Mathematics Computing Electronics DomainKnowledge Exystence Workshop / R.Sanz / Torino 2003

  9. Basic Control Structures Common control patterns Exystence Workshop / R.Sanz / Torino 2003

  10. Open loop control controlaction output setpoint Controller Plant Exystence Workshop / R.Sanz / Torino 2003

  11. X Closed loop control disturbances controlaction output error setpoint Controller Plant feedback This is called a “feedback controller” Exystence Workshop / R.Sanz / Torino 2003

  12. X Adaptive control Controller adjustment disturbances controllerparameters error output Controller Plant setpoint controlaction feedback Exystence Workshop / R.Sanz / Torino 2003

  13. X X FeedForward control Predicteddisturbance PlantModel disturbances error output Controller Plant setpoint controlaction feedback Exystence Workshop / R.Sanz / Torino 2003

  14. A General Control Structure Extracting Commonalities Exystence Workshop / R.Sanz / Torino 2003

  15. General Structure (I) Controller Model Sensor Thinker Actuator Plant Exystence Workshop / R.Sanz / Torino 2003

  16. General Structure (II) Level 3 Model Sensor Thinker Actuator Level 2 Model Sensor Thinker Actuator Level 1 Model Sensor Thinker Actuator Plant Exystence Workshop / R.Sanz / Torino 2003

  17. General Structure (III) Controller Controller Controller Controller Controller Controller Controller Controller Controller Controller Controller Controller Controller Plant From hierachies to heterarchies and beyond Exystence Workshop / R.Sanz / Torino 2003

  18. Control Structure Evolution Fathers and sons in control systems Exystence Workshop / R.Sanz / Torino 2003

  19. Flight Control (I) Movements of control surfaces Airplane attitude Airplane Feedback of airplane status (visual, vestibular) Exystence Workshop / R.Sanz / Torino 2003

  20. Flight Control (II) Desired airplane attitude Movements of control surfaces Airplane attitude Flight Control Airplane Feedback of airplane status (sensors) Exystence Workshop / R.Sanz / Torino 2003

  21. Flight Control (III) Desired airplane attitude Desired Course Airplane attitude Movements of control surfaces OperationsControl Flight Control Airplane Feedback of airplane status (sensors) Exystence Workshop / R.Sanz / Torino 2003

  22. Flight Control (IV) Desired airplane attitude Desired Course Move Surfaces Desired Route Attitude MissionControl OperationsControl Flight Control Airplane Feedback FMSFlight Management Systems Exystence Workshop / R.Sanz / Torino 2003

  23. Flight Control Systems Lockheed L-749 Constellation • 1945 • Crew: 5 men • Pilot, • Co-pilot, • Flight engineer, • Navigation, • Radio Boeing 777 • 1995 • Crew: 2 people • Pilot, • Co-pilot What for 2045? Exystence Workshop / R.Sanz / Torino 2003

  24. Examples Concrete examples of control systems Exystence Workshop / R.Sanz / Torino 2003

  25. Cruise speed control Desired Speed Controller Sensor Model-derivedThinker Actuator Gas Real Speed Exystence Workshop / R.Sanz / Torino 2003

  26. Service Servo Task G5 G1 G4 M5 M1 M4 H1 H4 H5 Space Robotic Arm Sense Model Act Movement G3 M3 H3 Operator Interface Global Memory Primitive G2 M2 H2 NASREM Sense Act Exystence Workshop / R.Sanz / Torino 2003

  27. Teleoperation with a touch Exystence Workshop / R.Sanz / Torino 2003

  28. Hiearchical Robotic Controller SP BG Battalion Formation WM RCS Plans for next 24 hours SURROGATE BATTALION Platoon Formation SP BG WM Plans for next 2 hours SURROGATE PLATOON Section Formation SP BG Plans for next 10 minutes WM SURROGATE SECTION Tasks relative to nearby objects Objects of attention SP BG Plans for next 50 seconds WM VEHICLE Task to be done on objects of attention Communication Attention Mission Package Locomotion SUBSYSTEM Surfaces OPERATOR INTERFACE 5 second plans SP SP SP BG SP BG BG WM BG WM Subtask on object surface WM WM Obstacle-free paths Lines PRIMITIVE SP SP SP BG SP BG BG WM BG WM WM WM 0.5 second plans Steering, velocity Points SERVO SP SP SP BG SP BG SP BG BG SP SP SP BG BG BG BG WM WM WM WM WM WM WM WM 0.05 second plans Actuator output SENSORS AND ACTUATORS Exystence Workshop / R.Sanz / Torino 2003

  29. Cooler Process Control (I) stir CSTR Feed Cooler Product Exystence Workshop / R.Sanz / Torino 2003

  30. Process Control (II) • Basic control • Single variable feedback • Advanced control • Multivariable control loops • Model-based control loops • Supervisory control • Human monitorisation of controlled system state Exystence Workshop / R.Sanz / Torino 2003

  31. Process Control (III) Supervisor Sense Control Act Plant Sense Act Exystence Workshop / R.Sanz / Torino 2003

  32. Process Control (IV) Exystence Workshop / R.Sanz / Torino 2003

  33. Process Control (V) Management Information System Strategic Control Optimization Tactical Control Plan execution Operational Control Reactivity Advanced Control User Interface Complex Loops Conventional Process Control Simple Loops Sensors & Actuators Plant Exystence Workshop / R.Sanz / Torino 2003

  34. Software intensive control Increasing the intelligence of controllers Exystence Workshop / R.Sanz / Torino 2003

  35. Elements of Intelligence • Behavior Generation -- Planning and Execution • World Modeling -- Data Management, Estimation, Prediction • Sensory Processing -- Group, Filter, Compare • Value Judgment -- Compute value and confidence • Knowledge -- Images, Symbols, Objects, • Communications -- Syntax, Semantics, Connectivity Elements of Consciousness ? Exystence Workshop / R.Sanz / Torino 2003

  36. Reaching the limits • ODE and PDE modeling and control do not fulfill our needs for high autonomy • New computing technologies from different sources are used in controller implementation • AI technologies are common in industrial control today Exystence Workshop / R.Sanz / Torino 2003

  37. Intelligent Control • Fusion of Automatic Control and Artificial Intelligence? • Soft approaches to control systems: • Expert, fuzzy, neural, genetic, etc • Control systems with a high content of sophisticated IT Exystence Workshop / R.Sanz / Torino 2003

  38. Intelligent control architectures Knowledge based systems Temporal logics Learning control Agent technology Planning systems Machine learning Neural networks Genetic algorithms Fuzzy logic Pattern recognition Knowledge-based sensor fusion Neuro-fuzzy and neuro-adaptive Intelligent sensors and actuators Evolutionary control Distributed and embedded systems Expert systems Distributed intelligence Examples of technologies Exystence Workshop / R.Sanz / Torino 2003

  39. RiskManagement Exystence Workshop / R.Sanz / Torino 2003

  40. Strategic Process Control Operator Wrappers UI CIM21 IRDB LAB OI Object Request Broker PPSI QDED AMOA IM VM Support Core Functions Exystence Workshop / R.Sanz / Torino 2003

  41. Millitary Robotic Scouts XUV II Exystence Workshop / R.Sanz / Torino 2003

  42. “Ultimate” Architectures • Soar, BB1, ACT, EPIC, Prodigy, TCA, Subsumption, ATLANTIS, RAP, PRS, RCS, NASREM, AFREB, Entropy Reduction Engine, NMRA, 3T, GLAIR, Theo, Phoenix, CONEX, Icarus, IRMA, PRS, EPAM, CIRCA, SIMPLEX, Jam!, OCA, OSACA, OPENDreams, …etc., etc, etc. Exystence Workshop / R.Sanz / Torino 2003

  43. Complex control systems Complexity raising in controllers Exystence Workshop / R.Sanz / Torino 2003

  44. Software Control Context • Control systems do perform a dynamical interaction with real world entities (they are closed loop systems). • Their complexity can range from a simple thermostat or pacemaker to an Airbus AFCS or a country-wide energy management system. • Control systems do pose problems of wider and deeper scope than most other software systems: • e.g. distribution, hard real-time behavior, fault-tolerance, embedded, long life-span (10-40 years), model-based construction, formal verification, scalability, dependable systems of systems, complexity, etc. Exystence Workshop / R.Sanz / Torino 2003

  45. Complex Control Systems • Control systems are software-intensive applications that are becoming extremely complex as new functionality is required from them. • Emergent complexity is a major engineering challenge as embedded distributed systems technology raises massive concurrency and interaction issues • Control systems complexity is of HOT type more than SOC type Exystence Workshop / R.Sanz / Torino 2003

  46. Plant-wide Control Safety MIS Enterprise Network Data Storage Business Management Process Control Process Operation Control Network Process Management Field Configuration Fieldbus Sensing and Acting Field Management Continuous Process Plant Exystence Workshop / R.Sanz / Torino 2003

  47. Total-Ship Systems Total Ship C&C Center Exystence Workshop / R.Sanz / Torino 2003

  48. Body ElectronicsNetwork I/O DriverInterface AssistantSystem GatewayBody CC CC CC CC CC CC CC BrakeManager PowerTrain SteeringManager Suspen-sion I/O I/O I/O I/O Car Control Systems Exystence Workshop / R.Sanz / Torino 2003

  49. C2 JTIDS Terminal F-15 JTIDS Terminal Open Weapon Systems Browser JTIDS C4I Collaboration Collaboration Simulation Server Client Application Controls & Displays C2 F-15 Virtual Target Quality Object Folder Framework Adaptive Quality of Service Management Resource Mgmt Object Request Broker Pluggable Protocol Pluggable Protocol Link 16 Interface Software Link 16 Interface Software Link 16 Exystence Workshop / R.Sanz / Torino 2003

  50. 4-D/RCS System Architecture Exystence Workshop / R.Sanz / Torino 2003

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