1. 1 בלמס 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 LAHAV Division 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. 2 בלמס 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 LAHAV Division Joint LAHAV-Technion Research Project

3. 3 בלמס 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 LAHAV Division Joint LAHAV-Technion Research Project

4. 4 בלמס 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 LAHAV Division Collaboration with the Faculty of Industrial Engineering and Management

5. 5 בלמס 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 LAHAV Division 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. 6 בלמס 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 LAHAV Division Six leading MBSE methodologies (INCOSE Task, Estefan, 2008 p 43) (INCOSE Task, Estefan, 2008 p 43) Six leading MBSE methodologies (INCOSE Task, Estefan, 2008 p 43) (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).Object-Process Methodology - A Holistic Systems Paradigm

7. 7 בלמס 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 LAHAV Division 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 systems 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. 8 בלמס 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 LAHAV Division The 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 The model expresses real things – objects and processes – and relations among them. is a affects Object Process Energy Replenishing is Car

9. 9 בלמס 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 LAHAV Division OPMOPM OPMOPM ObjectProcessMethodology Connected using Structural Links Connected using Procedural Links Objects are required by Processes Processes yield Objects or change their states Connected using Structural Links

10. 10 בלמס 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 LAHAV Division Demonstration Case Study The demonstration case study is TALOS, an EU 7 th 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. 11 בלמס 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 LAHAV Division TALOS – Transportable Autonomous patrol for Land bOrder Surveillance system Within FP7 EU programs EU 7 th 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

12. 12 בלמס 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 LAHAV Division TALOS Architecture Flying-Cam's Ground Control Station Control Trailer UAV INTERCEPTOR PATROLER UGV OCUs WiMAX comm 7 KM Headquarter

13. 13 בלמס 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 LAHAV Division Field Control Trailer section A Field Control Trailer Section B Headquarters USV PATROL UAV Array Of Sensors Routine Behavior UGV PATROL Network Communication

14. 14 בלמס 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 LAHAV Division INTRUDER INTERCEPTOR UGV Intruder Scenario

15. 15 בלמס 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 LAHAV Division INTRUDER Neutralization of Explosive Charge

16. 16 בלמס 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 LAHAV Division Back to OPM ObjectProcessMethodology Connected using Structural Links Connected using Procedural Links Objects are required by Processes Processes yield Objects or change their states Connected using Structural Links

17. 17 בלמס 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 LAHAV Division System Diagram (SD) OPD OPL

18. 18 בלמס 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 LAHAV Division Hierarchical Consistent Model

19. 19 בלמס 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 LAHAV Division SD1 – Border Observing & Intercepting

20. 20 בלמס 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 LAHAV Division SD1.1 – Mission Executing

21. 21 בלמס 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 LAHAV Division SD1.1.1 – Intercepting

22. 22 בלמס 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 LAHAV Division SD1.1.1 – Interception Executing

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

24. 24 בלמס 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 LAHAV Division Unfold Views

25. 25 בלמס 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 LAHAV Division Unfold Views

26. 26 בלמס 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 LAHAV Division Testing View 1

27. 27 בלמס 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 LAHAV Division Testing View 2

28. 28 בלמס 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 LAHAV Division Testing View 3 UGV Deploying Strategic Mission Planning Strategic Mission Plan

29. 29 בלמס 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 LAHAV Division Testing View 4 Platform Mission Planning & Triggering Strategic Mission Planning Strategic Mission Plan deployed store d