1 / 29

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

rufin
Download Presentation

Conceptual Modeling and Simulation of Autonomous Ground Systems

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. 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

  2. Joint LAHAV-Technion Research Project

  3. Joint LAHAV-Technion Research Project

  4. Collaboration with the Faculty of Industrial Engineering and Management

  5. Project 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).

  6. 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).

  7. OPM 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

  8. The Key to OPM: Telling processes from objects and modeling them concurrently conceived reality modeled reality Object Vehicle is a Aircraft Is modeled by is a Car Bus Is modeled by Energy Replenishing affects Gas Filling is Is modeled by Process The model expresses real things – objects and processes – and relations among them.

  9. OPM Object Process Methodology Connected using Procedural Links Objects are required by Processes Processes yield Objects or change their states Connected using Structural Links Connected using Structural Links

  10. 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

  11. EU 7th Framework Programme (Priority: Security) • Category – Integrated Project (IP) • Budget – 20 mln Euro • EC contribution – 13 mln Euro • Duration: 2008 – 2012 • Objective –develop and field test the innovative concept of a mobile, modular, scalable, autonomous and adaptive system for borders protection • Result – technology demonstrator TALOS – Transportable Autonomous patrol for Land bOrder Surveillance system Within FP7 EU programs

  12. TALOS Architecture WiMAXcomm Headquarter UGV OCUs PATROLER INTERCEPTOR 7 KM UAV Flying-Cam's Ground Control Station Control Trailer

  13. UGV PATROL Field Control Trailer Section B Field Control Trailer section A Headquarters Routine Behavior UAV RED BORDER BLUE BORDER Array Of Sensors Network Communication USV PATROL

  14. Intruder Scenario INTRUDER INTERCEPTOR UGV

  15. Neutralization of Explosive Charge INTRUDER

  16. Back to OPM Object Process Methodology Connected using Procedural Links Objects are required by Processes Processes yield Objects or change their states Connected using Structural Links Connected using Structural Links

  17. System Diagram (SD) OPD OPL

  18. Hierarchical Consistent Model

  19. SD1 – Border Observing & Intercepting

  20. SD1.1 – Mission Executing

  21. SD1.1.1 – Intercepting

  22. SD1.1.1 – Interception Executing

  23. SD1.1.1.1 – Interception Procedure Executing Chemical, biological, radiological, and nuclear

  24. Unfold Views

  25. Unfold Views

  26. Testing View 1

  27. Testing View 2

  28. Testing View 3 Strategic Mission Planning Strategic Mission Plan UGV Deploying

  29. Testing View 4 Strategic Mission Planning Strategic Mission Plan Platform Mission Planning & Triggering stored deployed

More Related