1. Hybrid Workgroup Pam Binns Magnus Carlsson David Corman Bonnie Heck Tom Henzinger Gokhan Inalhan Gabor Karsai, co-chair Wallace Kelly Edward A. Lee, chair Brian Mendel Andrew Moran Linda Wills

2. Modeling Questions Language (syntax, semantics, composition) Modeling a distributed physical plant Modeling the controller Modeling faults and their effects How are models used? Semantics of anytime computation

3. Uses of Hybrid Systems Analysis – Analysis of discrete and continuous controllers interacting with a continuous plant Simulation – Evaluation of continuous models with discrete mode transitions Embedded modeling – Embedding of continuous models in deployed systems, integrated into the control algorithms (e.g. for fault identification)

4. Questions What's in the OCP, and what's in the application? Run-time support for hybrid models? at what cost? Design-time support? (e.g. generation of software) Anytime computation? (resource management) QoS guarantees? Is real-time O/S the only option? Admission control? Support for domain-specific languages?

5. Examples Considered UAV helicopter control (GATech) Free flight conflict avoidance (Rockwell) Platooning vehicles (Berkeley) Dragonfly – Multi-vehicle coord (Stanford) In all cases, we talked about fault detection and adaptation using modal control.

6. Mode Transition Control (GATech) Overall Architecture Mission Planning Situation Awareness Mode Transition Controllers Mode Transition Manager MTC #1 MTC #2 MTC #N Flight Controller Mode Selection Goal Mode Transition Start Flag Transition Complete Flag Helicopter States Mode Transition Control Manager

7. Mode Transition Specification Mode 1 2 N Transition Start Flag Transition Complete Flag Desired Goal Mode  11  22  N2  2N  21  12  1N  N1  NN  ij  ii ---- denotes a transition fromMode i toMode j ---- denotes a regulation aboutMode i

8. FDI/FTC Demo in OCP (GATech) Subsystem Local Controller Subsystem Local Controller Interconnection Structure Reconfiguration Controller Redistribution Controller Set-Point Controller Fault Tolerant Control Manager Fault Detection & Identification High Level Mid Level Low Level e1e1 v1v1 r1r1 y1y1 Indicates separate OCP components

9. Free Flight (Rockwell)

10. Extensions UCAVs with accurate models of one another – coordinated maneuvers rather than assuming the other aircraft will not react. Errors in transmission, faulty/damaged UCAVs – fault identification and adaptation. Create hybrid automaton model and use hybrid Mocha to verify that conflicts do not occur.

11. Scenario – Vehicle Tracking Publishes: time driving force velocity position Event Channel Implements: fault detection modal control Subscribes

12. Modeling Car Tracking Java Space (today) OCP (tomorrow) thanks to Jie Liu and Xiaojun Liu

13. Execution

14. sensors leader Br Acc Ba bang-bang PID follower controller actuators S Hierarchical View OCP here only?

15. Styles of Publish and Subscribe Interactions time stamped events? globally time stamped? reliable delivery? ordered delivery? signal coordination? synchronous delivery? blending of multiple publishers? dynamic redirection/resourcing? persistence? history?

16. OCP Domain #1 time stamped events? yes globally time stamped? no reliable delivery? yes ordered delivery? no signal coordination? yes globally synchronous delivery? no blending of multiple publishers? no dynamic redirection/resourcing? yes persistence? no history? no

17. What is a Domain The definition of the interaction of components, and the software that supports this interaction. Multi-domain modeling means: Hierarchical composition – heterogeneous models allowed Domains can be specialized – avoid creeping featurism – enable verification Data replication in OCP/Boldstroke is another domain – separation of communication mechanisms.

18. What technology can be shared when building domains? Abstract syntax Type systems Components Interfaces … sensors leader Br Acc Ba bang-bang PID follower controller actuators S

19. Domains After Domain 1 High-sample-rate, periodic event handling Stream-based component interaction Control reconfiguration management Time-triggered, synchronous modeling Continuous-time domain Domains need to be able to: Share a consistent notion of time Share signals/params across levels of the hierarchy. Export interfaces to other domains Import components designed in another domain

20. Milestones Use OCP in demonstrations in each of – Active state models – On-line control customization – Coordinated multi-modal control Steps – Define the challenge problems that justify domains. – Work out how mode transitions and other control reconfiguration are handled in the OCP. – Work out the interaction semantics (domains) supported by the OCP (mode transition control? continuous modeling? synchronous interactions?)

21. Architecture to Avoid Poor common infrastructure. Weak specialization. Poor resource management and sharing. Poor planning.

22. Also to Avoid Elegant, unified, and beautiful, but rigid, inflexible, and difficult to adapt. Plus, it takes 100 years to build.

23. Elegant Federation Elegant federation of heterogeneous models. Two Rodeo Drive, Kaplan, McLaughlin, Diaz Source: Kaplan McLaughlin Diaz, R. Rappaport, Rockport, 1998