Professional Documents
Culture Documents
Shankar Sastry, Ruzena Bajcsy, Peter Bartlett, Laurent El Ghaoui, Mike Jordan, Jitendra Malik, Stuart Russell, Pravin Varaiya (Berkeley) Vijay Kumar, Kostas Danillidis, Ali Jadbabaie, George Pappas, C. J. Taylor (Penn) Howie Choset, Alfred Rizzi, Chuck Thorpe (CMU)
Technology Challenges
1. The world and national security threats are different: mobile operations in urban terrain, perimeter protection, convoy protection, anti terrorism operations. 2. Use of robotic and mixed initiative forces, the need for coordination of manned and unmanned forces 3. The need for dynamic strategies and tactics for dealing with a determined and flexible adversary. 4. Exploitation of the 3rd dimension by organic UAVs designed for use by individual dismounts
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
Thrust I continued
Toolboxes for Design of Hybrid, Adaptive Control Systems
Principled Embedded Systems Design for UAVs using time triggered architectures Model Predictive Controllers for adaptive obstacle avoidance
Controller Libraries
Many world semantics and hierarchy semantics Modal decomposition
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
hyper
A Useful Toolbox for Hybrid Control Systems Design
Shankar Sastry, Jonathan Sprinkle, Mike Eklund, Ian Mitchell
X2
Numerical Solution
t = t*
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
X1
Slide by Rafael Garcia
Tool Integration
No one tool exists for all of these Several academic toolmakers created HSIF (Hybrid Systems Interchange Format)
Hybrid Systems Interchange Format Failed to mature for a few reasons Tool-specific, and Tool-driven, not capability driven SAL HyVisual Simulink/Sflow Checkmate Not enough programming power behind it No thought to coverage of corner cases
Hybrid Systems Interchange Format (HSIF)
Export: Import: Planned: Partial:
CHARON
GME/HSIF
Teja
Tool Integration
Example correct output:
What is needed is a framework that utilizes interchange format Must support what we know about hybrid systems semantics, encourage tools integration Implicit tool semantics makes fully meaningful translation impossible, or impractical The proper specification of the semantics of an interchange format would ease this difficulty Leverage HSIF as a learning tool for the semantic specification of the hyper core
Incorrect output:
http://ptolemy.eecs.berkeley.edu/hyvisual/
modal model
dataflow controller
Hyper Framework
BASE Package
CORE
model database
Extraction Manipulation Editor Verification Engine Engine Verification Engine Verification CheckMate HyTech, LSM,
HyTech, LSM, CheckMate HyTech, LSM, CheckMate
Visualization
Interoperability Interfaces
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
Hyper Framework
Extensible to other tools Existing examples for integration through HyVisual/LSM A more focused, useful, core interchange format When integrated, allows persistence of legacy models in industry (Matlab/Simulink), now with advantage(s) of synthesis/verification Newer/faster tools can be tested against known true Check for same behavior Can be used for regression testing
GPS
INS
10ms
CRUISE
GPS and INS write navigation data to a buffer Controller accesses and reads the buffer with 10ms period Controller writes control outputs to servos with 20ms period
Ursa Electra1
DC Brushless Motor GPS Antenna
Navigation computer INS on vibration isolation mounting GPS Card Wireless Modem
Length: 1.8 m Width: 0.39m Height: 0.54m Weight: 7.8 kg Rotor Diameter: 1.8m Lithium Polymer Battery Pack 38V, 8000mAh Flight time: 20 min System operation time: 80 min
Nov 1-2, Meeting 3rd Year Review
TDOA
Technology to be transitioned: Autonomous Helicopter Formation Flight Previous work Mesh stability and experimental results New suggestion: Model Predictive Control
ACCLIMATE MURI Platform Test: Organic Air Vehicles and UAV Mobile Ground Station in Fort Hunter-Liggett Live-Fire Convoy Training Exercises April 4-9,2005
Perry Kavros, Travis Pynn, Peter Ray and Shankar Sastry University of California, Berkeley
RESEARCH AGENDA: Developing Trusted, Intelligent UAVs Goal: Develop robust autonomous systems that react intelligently within the mission context, interact with other autonomous systems and human operators to achieve mission objectives Majority of currently fielded UAVs are teleoperated or fly preprogrammed missions Intelligent autonomy cannot be achieved without a complete understanding of the mission and warfighters needs
human-centered design approach from warfighters perspective tests in a realistic environment
ACCLIMATE Platform Tests at Fort Hunter-Liggett: Live-Fire Exercises Context UAV teleoperation from bunkers, vehicles along route or UAV mobile ground control station OAV terrain recon at 1000 ft and extremely low altitudes along route OAV monitor convoy route outside the surface danger zones
tracking combat operations live video downlinks to convoy commander and tactical operations center via wireless network BEAR activities transparent to training exercises Completely safe insertion of BEAR team experiments (cleared by FHL Range Command) HUGE jamming issues compromised ability to downlink video to tactical operations center during live-fire exercises
SMART BIRD Single-Man Aerial Reconnaisance Tool: Battlefield Information Recon Deployment UC Berkeley, S. Shankar Sastry, PI
Nov 1-2, 3 back-pack size, Adaptive modular, 48 Control in 3-D Single operator, stealth,Year Review hand launch/recovery,Coordinatedelectric-powered wing, 2.5 lb UAV (1 lb payload), 2-mi. range, loitering ability (day/night) without GPS, autopilot (wing leveler & altitude hold), 2.4 GHz video/data downlink, requires no tools for assembly/disassembly Meeting Dynamic Battlefield
rd
The intelligence provided by tactical UAVs might be multiplied considerably if they can flit about undetected.
Unweaving the Web: Deception and Adaptation in Future Urban Operations (Rand 2003)
Altitude-reduced signature
Vertical takeoff from the ground or out of hiding into a near-ground hover for a quick look
Electric SmartBAT
Radio-controlled Hand-launched/hand-recovered Embedded camera, antenna/receiver 48-inch foam wing with EPP leading edge 1 lb payload 2.5 lb total weight 15-70 mph ~90 min maximum flight time Waypoint navigation (~Dec 2005)
BEAR Organic UAVs teleoperation in the field from live video Electric JOKER helicopter controlled via a screen mounted in a vehicle. Professional-level radio-control pilot skills required. SmartBAT controlled via a plasma screen inside the ARO-sponsored mobile UAV ground control station. Novice-level pilot able to perform most flight maneuvers.
Live video downlink from UAV to convoy commander and tactical operations center Live video imagery from a small helicopter organic UAV is not as spatially disorienting as live video from a small fixed wing UAV which has to repeatedly pass over an area to reacquire a target.
Other real-time links for the tactical operations center BEAR moving map and surveillance camera network video in convoy vehicle used to supplement sand table in convoy training tactical operations center
Ft. Hunter-Liggett Live Fire Exercise command staff and trainees critique the video from the BEAR organic UAV.
Adaptive Coordinated Control in the Multi-Agent 3D Dynamic Battlefield: ADAPTIVE COORDINATED CONTROL OF INTELLIGENT MULTI-AGENT TEAMS (ACCLIMATE)
Todd Templeton, Marci Meingast, Mike Eklund, Prof. Shankar Sastry U.C. Berkeley
Supporting cast: David Shim, Hoam Chung, Peter Ray, Travis Pynn
November 1, 2005
Terrain elevation and appearance recovered from flight simulated near Victorville, CA airport Path of vehicle superimposed on map 5 meter average error at 1500m AGL
productivity interactive
Fire Response
Vineyards
Great Duck Island
Building Comfort, Smart Alarms
Redwoods
Elder Care Factories
Nov 1-2, 3rd Year Review Adaptive Coordinated Control in 3-D Wind Response Meeting Dynamic Battlefield Of Golden Gate Bridge Soil monitoring
network
system architecture
Comm. MEMS sensing
Store
Proc
technology
Nov 1-2, 3rd Year Review Meeting
Traditional Systems
Application Application
User
System
Network Stack Threads Address Space Transport Network Data Link Physical Layer Drivers
Files
Well established layers of abstractions Strict boundaries Ample resources Independent Applications at endpoints communicate ptpt through routers Well attended
Routers
by comparison ...
Highly Constrained resources processing, storage, bandwidth, power Applications spread over many small nodes self-organizing Collectives highly integrated with changing environment and network communication is fundamental Concurrency intensive in bursts streams of sensor data and network traffic Robust inaccessible, critical operation Unclear where the boundaries belong even HW/SW will move
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
Mote Evolution
New routing protocols to relax dependency on localization service Remote configuration interface
Solution to a problem, not an original goal
Network reprogramming System layer for remotely invoking disparate services Standard services
Sleep, ping, RF power, blink, network reprogram
MATLAB command-line interface to network Strong decoupling between sensor networks and clients
BALD CAMEL UAV Deployed Ground Sensor Dispensing System Feb 2004
Design, Development and Flight Test of UAV Carriage/Dispensing System For BALD CAMEL Ground Sensor System
Design Compatible With Predator and Hunter UAVs
UAV Carriage
Ground Pattern
Dry Creek Bed
Road
Trio Sensor Board Features a microphone, a piezoelectric buzzer, x-y axis magnetometers, and four passive infrared (PIR) motion sensors Solar-power charging circuitry
Trio Node
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
directional
omni
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
Issues: Distributed multiple-target tracking and identity management [Oh, Hwang, Roy, Sastry, 2005] Representation (low communication cost, high performance)
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
Technical Cooperation
Army Labs and Sites ARL (POC: Emmerman, Kolodny) 160th SOAR, Ft. Campbell SOCOM, Chris Whitaker Fort Benning, Ga MOUT site Other Government Labs AFRL Wright Patterson (Banda, Bortner, Koenig) SOCOM (Secunda) USMC bases, Quantico, 29 Palms (POC: Col. (retd) Kiers, Brig Gen (retd.) Holcomb), NASA (Meyer, Tobias)
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
Technology Transfer
Industrial Partners
Honeywell, Minneapolis (Datta Godbole, Tariq Samad) Boeing Phantom Works, St. Louis (Dave Corman, Jim Paunicka, Jared Rossom) Northrup Grumann, Los Angeles (Robert Miller, Omid Shakernia) Lockheed Missiles & Space, Palo Alto (Jim Ryder, Prasanta Bose) Raytheon, Fairfax (Bob Berzedevin) Sikorsky (Clas Jacobsen, Mihai Huzmezan) Aerospace Corporation (Kirstie Bellman)
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
Third Year Review Program: November 2nd Thrust III. Learning and Adaptation in the Presence of Uncertainty June 8th 9:0011:30 Sastry and Oh, Overview 40 minutes Shim 30 minutes Chung 30 minutes Ahammad and Meingast 30 minutes Government Caucus 11:25 to 1 pm. Wrap Up and Feedback 1:00 1:30 pm.
Nov 1-2, 3rd Year Review Meeting Adaptive Coordinated Control in 3-D Dynamic Battlefield
Backups