Autonomous Systems LaboratoryAutonomous Systems Laboratory
A
Software Intensive Complex Software Intensive Complex Control SystemsControl Systems
Ricardo SanzRicardo SanzUniversidad Politécnica de MadridUniversidad Politécnica de Madrid
Exystence WorkshopExystence WorkshopMachine Consciousness: Complexity AspectsMachine Consciousness: Complexity Aspects
29th September – 1st October29th September – 1st OctoberISI, TorinoISI, Torino
22Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
MotivationMotivation
Control system complexity is continuously Control system complexity is continuously increasing and reaching consciousness increasing and reaching consciousness levelslevels
33Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Purpose of the TalkPurpose of the Talk
Provide an overview of the field of control Provide an overview of the field of control systemssystems
Provide an overview on the role of Provide an overview on the role of software in control systemssoftware in control systems
Describe the trends toward conscious Describe the trends toward conscious controllerscontrollers
44Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
ContentsContents
Introduction to control systemsIntroduction to control systemsBasic control structuresBasic control structuresSoftwareSoftware−−intensive controllersintensive controllersComplex control systemsComplex control systems
Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Autonomous Systems LaboratoryAutonomous Systems Laboratory
A
Introduction to Introduction to control systemscontrol systems
A fast overviewA fast overview
66Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
What is Automatic Control ?What is Automatic Control ?
Science and technology Science and technology of of artificial autonomyartificial autonomy
77Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Why Autonomy?Why Autonomy?
SafetySafety: put humans in the safe side: put humans in the safe sidePerformancePerformance: superhuman speed or : superhuman speed or
tolerancestolerancesSizeSize: necessary miniaturization: necessary miniaturizationEconomyEconomy: humans should be paid: humans should be paid
... today, “... today, “totaltotal” autonomy is not ” autonomy is not (economically) advisable for a complex (economically) advisable for a complex systemsystem
88Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Automatic ControlAutomatic Control
DomainDomainKnowledgeKnowledge
ElectronicsElectronics
MathematicsMathematics
ComputingComputing
Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Autonomous Systems LaboratoryAutonomous Systems Laboratory
A
Basic Control StructuresBasic Control Structures
Common control patternsCommon control patterns
1010Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Open loop controlOpen loop control
PlantControllersetpointcontrolaction output
1111Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Closed loop controlClosed loop control
PlantControllersetpointcontrolaction output
feedback
This is called a “feedback controller”
Xerror
disturbances
1212Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Adaptive controlAdaptive control
PlantControllersetpoint
controlaction
output
feedback
Xerror
disturbances
Controlleradjustment
controllerparameters
1313Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
FeedForward controlFeedForward control
PlantControllersetpoint
controlaction
output
feedback
Xerror
disturbancesPlantModel
Predicteddisturbance
X
Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Autonomous Systems LaboratoryAutonomous Systems Laboratory
A
A General Control StructureA General Control Structure
Extracting CommonalitiesExtracting Commonalities
1515Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
General Structure (I)General Structure (I)
Plant
Sensor ActuatorThinker
Model
Controller
1616Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
General Structure (II)General Structure (II)
Plant
Sensor ActuatorThinker
Model
Sensor ActuatorThinker
Model
Sensor ActuatorThinker
Model
Level 1
Level 2
Level 3
1717Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
ControllerController
General Structure (III)General Structure (III)
ControllerController
ControllerController
ControllerController
Controller
Controller
Controller Controller Controller
From hierachies to heterarchies and beyond
Plant
Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003 1818
Autonomous Systems LaboratoryAutonomous Systems Laboratory
A
Control Structure EvolutionControl Structure Evolution
Fathers and sons in control Fathers and sons in control systemssystems
1919Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Flight ControlFlight Control (I) (I)
Airplane
Movements of control surfaces Airplane attitude
Feedback of airplane status (visual, vestibular)
2020Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Flight Control Flight Control (II)(II)
Flight Control Airplane
Feedback of airplane status (sensors)
Airplane attitudeMovements of
control surfaces
Desired airplane attitude
2121Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Flight Control Flight Control (III)(III)
OperationsControl
Desired Course
Flight Control Airplane
Feedback of airplane status (sensors)
Airplane attitude
Movements of control surfaces
Desired airplane attitude
2222Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Flight Control (Flight Control (IVIV))
MissionControl
Desired Route
FMSFlight Management
Systems
OperationsControl
Desired Course
Flight Control Airplane
Feedback
Attitude
MoveSurfaces
Desired airplane attitude
2323Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Flight Control SystemsFlight Control SystemsLockheed L-749 ConstellationLockheed L-749 Constellation 19451945 Crew: 5 menCrew: 5 men
Pilot,Pilot, Co-pilot, Co-pilot, Flight engineer,Flight engineer, Navigation, Navigation, RadioRadio
Boeing 777Boeing 777 19951995 Crew: 2 peopleCrew: 2 people
Pilot,Pilot, Co-pilotCo-pilot
What for 2045?
Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Autonomous Systems LaboratoryAutonomous Systems Laboratory
A
ExamplesExamples
Concrete examples of control Concrete examples of control systemssystems
2525Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Sensor ActuatorModel-derivedThinker
Controller
Cruise speed controlCruise speed controlDesired Speed
Real Speed Gas
2626Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Space Robotic ArmSpace Robotic ArmG
lob
al M
em
ory
Glo
bal
Me
mo
ryG
lob
al M
em
ory
Glo
bal
Me
mo
ry
Op
era
tor
Inte
rfa
ceO
pe
rato
r In
terf
ace
Op
era
tor
Inte
rfa
ceO
pe
rato
r In
terf
ace
G1G1G1G1 M1M1M1M1 H1H1H1H1ServoServo
SenSensese ActAct
G2G2G2G2 M2M2M2M2 H2H2H2H2PrimitivPrimitivee
G3G3G3G3 M3M3M3M3 H3H3H3H3MovMovementement
G4G4G4G4 M4M4M4M4 H4H4H4H4TaTasksk
G5G5G5G5 M5M5M5M5 H5H5H5H5ServicServicee
SenseSense ModelModel ActAct
NASREMNASREM
2727Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Teleoperation with a touchTeleoperation with a touch
2828Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
RCSRCS
OP
ER
AT
OR
IN
TE
RF
AC
E
SP WM BG
SP WM BG
SP WM BG
SP WM BG
Points
Lines
Surfaces
SP WM BG SP WM BG
SP WM BG
0.5 second plans Steering, velocity
5 second plans Subtask on object surface Obstacle-free paths
SP WM BGSP WM BG
SP WM BGSP WM BG SP WM BG
SERVO
PRIMITIVE
SUBSYSTEM
SURROGATE SECTION
SURROGATE PLATOON
SENSORS AND ACTUATORS
Plans for next 2 hours
Plans for next 24 hours
0.05 second plans Actuator output
SP WM BGSP WM BG SP WM BG SP WM BG SP WM BG SP WM BG SP WM BG SP WM BG
Objects of attention
LocomotionCommunication Mission Package
VEHICLE Plans for next 50 seconds Task to be done on objects of attention
Plans for next 10 minutes Tasks relative to nearby objects
Section Formation
Platoon Formation
Attention
Battalion Formation SURROGATE BATTALION
Hiearchical Robotic ControllerHiearchical Robotic Controller
2929Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Process Control (I)Process Control (I)
Cooler
Feed
Product
Cooler
stir
CSTRCSTR
3030Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Process Control (II)Process Control (II)
Basic controlBasic control Single variable feedbackSingle variable feedback
Advanced controlAdvanced control Multivariable control loopsMultivariable control loops Model-based control loopsModel-based control loops
Supervisory controlSupervisory control Human monitorisation of controlled system Human monitorisation of controlled system
statestate
3131Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Sense
Act
ControlControl
PlantPlant
SupervisorSupervisor
Process Control (III)Process Control (III)
Sense
Act
3232Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Process Control (IV)Process Control (IV)
3333Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Process Control (V)Process Control (V)
Strategic ControlStrategic Control
Complex LoopsComplex Loops
Advanced ControlAdvanced Control
Operational ControlOperational Control
Tactical ControlTactical Control
Sensors & ActuatorsSensors & Actuators
Simple LoopsSimple Loops
Management Information SystemManagement Information System
PlantPlant
Optimization
Plan execution
Reactivity
Conventional Process Control
Use
r In
terf
ace
Use
r In
terf
ace
Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Autonomous Systems LaboratoryAutonomous Systems Laboratory
A
Software intensive controlSoftware intensive control
Increasing the intelligence of Increasing the intelligence of controllerscontrollers
3535Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Elements of IntelligenceElements of Intelligence
Behavior GenerationBehavior Generation -- Planning and Execution -- Planning and ExecutionWorld ModelingWorld Modeling -- Data Management, -- Data Management, Estimation,Estimation,
PredictionPredictionSensory ProcessingSensory Processing -- Group, Filter, Compare -- Group, Filter, CompareValue JudgmentValue Judgment -- Compute value and confidence -- Compute value and confidenceKnowledgeKnowledge -- Images, Symbols, Objects, -- Images, Symbols, Objects, CommunicationsCommunications -- Syntax, Semantics, Connectivity -- Syntax, Semantics, Connectivity
Elements of Consciousness ?
3636Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Reaching the limitsReaching the limits
ODE and PDE modeling and control do ODE and PDE modeling and control do not fulfill our needs for high autonomynot fulfill our needs for high autonomy
New computing technologies from New computing technologies from different sources are used in controller different sources are used in controller implementationimplementation
AI technologies are common in industrial AI technologies are common in industrial control todaycontrol today
3737Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Intelligent ControlIntelligent Control
Fusion of Fusion of Automatic ControlAutomatic Control and and Artificial Artificial IntelligenceIntelligence??
Soft approachesSoft approaches to control systems: to control systems: Expert, fuzzy, neural, genetic, etcExpert, fuzzy, neural, genetic, etc
Control systems with a Control systems with a high content of high content of sophisticated ITsophisticated IT
3838Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Examples of technologiesExamples of technologies Intelligent control Intelligent control
architecturesarchitectures Knowledge based Knowledge based
systems systems Temporal logicsTemporal logics Learning control Learning control Agent technologyAgent technology Planning systemsPlanning systems Machine learningMachine learning Neural networks Neural networks Genetic algorithmsGenetic algorithms Fuzzy logic Fuzzy logic
Pattern recognition Pattern recognition Knowledge-based sensor Knowledge-based sensor
fusionfusion Neuro-fuzzy and neuro-Neuro-fuzzy and neuro-
adaptiveadaptive Intelligent sensors and Intelligent sensors and
actuatorsactuators Evolutionary controlEvolutionary control Distributed and Distributed and
embedded systemsembedded systems Expert systemsExpert systems Distributed intelligenceDistributed intelligence
3939Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
RiskRisk ManManagementagement
4040Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Strategic Process ControlStrategic Process Control
Operator Wrappers
Support Core Functions
IRDB
VM IM
CIM21 LABUIOI
Object Request BrokerObject Request Broker
PPSI AMOAQDED
4141Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Millitary Robotic ScoutsMillitary Robotic Scouts
XUV IIXUV II
4242Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
““Ultimate” ArchitecturesUltimate” Architectures
Soar, BB1, ACT, EPIC, Prodigy, TCA, Soar, BB1, ACT, EPIC, Prodigy, TCA, Subsumption, ATLANTIS, RAP, PRS, Subsumption, ATLANTIS, RAP, PRS, RCS, NASREM, AFREB, Entropy RCS, NASREM, AFREB, Entropy Reduction Engine, NMRA, 3T, GLAIR, Reduction Engine, NMRA, 3T, GLAIR, Theo, Phoenix, CONEX, Icarus, IRMA, Theo, Phoenix, CONEX, Icarus, IRMA, PRS, EPAM, CIRCA, SIMPLEX, Jam!, PRS, EPAM, CIRCA, SIMPLEX, Jam!, OCA, OSACA, OPENDreams, …OCA, OSACA, OPENDreams, …
etc., etc, etc.etc., etc, etc.
Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Autonomous Systems LaboratoryAutonomous Systems Laboratory
A
Complex control systemsComplex control systems
Complexity raising in controllersComplexity raising in controllers
4444Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Software Control ContextSoftware Control Context
Control systems do perform a Control systems do perform a dynamical dynamical interactioninteraction with real world entities (they are with real world entities (they are closed loop systems). closed loop systems).
Their Their complexitycomplexity can range from a simple can range from a simple thermostatthermostat or or pacemakerpacemaker to an to an Airbus AFCSAirbus AFCS or or a a country-wide energy management systemcountry-wide energy management system. .
Control systems do pose Control systems do pose problems of wider and problems of wider and deeper scopedeeper scope than most other software systems: than most other software systems: e.g. distribution, hard real-time behavior, fault-e.g. distribution, hard real-time behavior, fault-
tolerance, embedded, long life-span (10-40 years), tolerance, embedded, long life-span (10-40 years), model-based construction, formal verification, model-based construction, formal verification, scalability, dependable systems of systems, scalability, dependable systems of systems, complexity, etc.complexity, etc.
4545Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Complex Control SystemsComplex Control Systems
Control systems are Control systems are software-intensivesoftware-intensive applications that are becoming extremely applications that are becoming extremely complex as new functionality is required from complex as new functionality is required from them. them.
Emergent complexityEmergent complexity is a major engineering is a major engineering challenge as embedded distributed systems challenge as embedded distributed systems technology raises massive concurrency and technology raises massive concurrency and interaction issuesinteraction issues
Control systems complexity is of Control systems complexity is of HOTHOT type more type more than than SOCSOC type type
4646Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Field Management
Process Management
Business Management
Continuous Process Plant
Fieldbus
Control Network
Enterprise Network
Process Control
MIS
Data Storage
Process Operation
Field Configuration
Sensing and Acting
Safety
Plant-wide ControlPlant-wide Control
4747Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Total-Ship SystemsTotal-Ship SystemsTotal Ship C&C Center
4848Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Car Control SystemsCar Control SystemsBody Electronics Network
DriverInterface
CC
PowerTrain
CC
I/O
AssistantSystem
CC
SteeringManager
CC
I/O
GatewayBody
CC
I/O
Suspen-sion
CC
I/O
BrakeManager
CC
I/O
4949Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Object Request Broker
Browser
Application
JTIDS
Controls &
Displays
Link 16 Interface Software
F-15 JTIDS TerminalC2 JTIDS Terminal
Virtual TargetFolder
Open Weapon SystemsOpen Weapon SystemsCollaboration
ServerC4I
Simulation
Quality of Service Management
Quality ObjectFramework
Link 16 Interface Software
Pluggable ProtocolPluggable Protocol
CollaborationClient
Link 16
C2C2 F-15F-15
Resource Mgmt
Adaptive
September 2003September 2003
Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Level(6) Platoon
Level(5) Section
Level(2) Prim
Level (3) Subsystem
Level(4) Vehicle
Level(1) Servo
ImagesTopological Entity Frames
Generic Class Frames
Specific Class Frames
Planner: Look_ahead(1 hour) every 5 min Generate 10 waypoints(5 min apart) Executor: Compute output every (100s)
Task: Go_to_point(aijkm1) Arrive at t + 30 msec
Task: Go_to_point(aijk1) Arrive at t + 300 msec
Task: Go_to_point(aij1) Arrive at t + 3 seconds
Task: Go_to_point(ai1) Arrive at t + 30 seconds
Task: Go_to_point(a) Arrive at t + 1 hour
Planner: Look_ahead(300ms) every 30 ms Generate 10 waypoints(30ms apart) Executor: Compute output every (10ms)
Planner: Look_ahead(3s) every 300 ms Generate 10 waypoints(300ms apart) Executor: Compute output every (100ms)
Planner: Look_ahead(30s) every 3 s Generate 10 waypoints(3s apart) Executor: Compute output every (1s)
Planner: Look_ahead(5 min) every 30 s Generate 10 waypoints(30s apart) Executor: Compute output every (10s)
Planner: Look_ahead(30ms) every 10 ms Generate 10 waypoints(3ms apart) Executor: Compute output every (3ms)
3 ms
Read Sensors
and Goal
Compute Output
Send to Actuator
Wait
Position, Orientation, Velocity, Acceleration Sensors
Estimated State Variables Position Velocity Acceleration
Pixel attributes
SP level 1 classify pixels compute pixel attributes measure pixel attributes
SP level 2 classify list entities confirm patch & edge entities compute patch & edge attributes group pixels into list entities
SP level 3 classify surface entities compute 100x100 m map compute surface attributes group into surface entities
SP level 4 classify object entities compute 1x1 km map compute object attributes group into object entities
SP level 1 Filter and compute state variables
SP level 5 classify section entities compute 10x10 km map compute squad attributes group into squad entities
SP level 6 classify platoon entities compute 100x100 map compute platoon attributes group into platoon entities
SENSORY PROCESSING
SHORT TERM KNOWLEDGE DATABASE
BEHAVIOR GENERATION
Task: Go_to_point(a1) Arrive at t + 5 minutes
Eg
osp
he
re c
oo
rdin
ate
s
ActuatorsCameras and LADAR
Wo
rld
ma
p c
oo
rdin
ate
s
Platoon Image
100x100 km map 30 m res
Maps
LONG TERM KNOWLEDGE DATABASE
10x10 km map 3 m res
Section Image
Object Image 100x100 m
map 30 cm res
Image with labled entities
Surface & Boundary Images
Edge Patch Vertex Images
Image with labled entities
Pixel attribute images
IMMEDIATE EXPERIENCE
WORLD MODELING
4-D/RCS System Architecture4-D/RCS System Architecture
5151Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Complex SoftwareComplex Software
Types of systemsTypes of systems ConventionalConventional Real-timeReal-time EmbeddedEmbedded Fault TolerantFault Tolerant DistributedDistributed IntelligentIntelligent
Special ProblemsSpecial Problems SizeSize IntegrationIntegration HeterogeneityHeterogeneity
What is complex software?What is complex software?
5252Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Software Design ChallengesSoftware Design Challenges
PredictabilityPredictabilityPerformancePerformanceScalabilityScalabilityOpennessOpennessCoordinationCoordinationTransparencyTransparencyNamingNamingCostCost
ConsistencyConsistencyFailure handlingFailure handlingSecuritySecurityHeterogeneityHeterogeneityMobilityMobilityLoad sharingLoad sharingFootprintFootprintetc.etc.
5353Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Complexity and developmentComplexity and development
Complexity affects developmentComplexity affects developmentEffort grows with complexity much more than Effort grows with complexity much more than
linearlylinearlyThere are There are systems we cannot buildsystems we cannot build::
24x365 (total availability)24x365 (total availability) One-shot (at the first try)One-shot (at the first try) HF-LC (High Performance / Low Cost)HF-LC (High Performance / Low Cost)
In search of In search of silver bulletssilver bullets:: Complex control software engineering ?Complex control software engineering ?
5454Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
ComplexityComplexityHigher technical complexity - Embedded, real-time, distributed, fault-tolerant - Custom, unprecedented, architecture reengineering - High performance, conscious
Lower technical complexity - Mostly 4GL, or component-based - Application reengineering - Interactive performance
Highermanagement complexity - Large scale - Contractual - Many stake holders - “Projects”
Lowermanagement complexity - Small scale - Informal - Single stakeholder - “Products”
Plant-wide DCS
Star WarsSatellite
Telephone
CASE Tool
European ATCSystem
MIS
CommercialCompiler
PID
DOC BusinessApplication
UnitSimulation
Plant Simulation
EmbeddedAutomotive
Software
GUI/RDB
Sojourner
Self-raisingrobot
TelephoneNetwork
5555Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
The Control ChallengesThe Control Challenges
Solve “artistic” problemsSolve “artistic” problems Like Hilbert’s 20 problemsLike Hilbert’s 20 problems
Build Build autonomous + reflectiveautonomous + reflective entities entities Plants operating in 365x24 regimesPlants operating in 365x24 regimes Mobile systems in real environmentsMobile systems in real environments Fault-tolerant systemsFault-tolerant systems Auto-optimizing systemsAuto-optimizing systems
5656Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Complexity ForcesComplexity Forces Intelligence Intelligence
Expert, fuzzy, neuralExpert, fuzzy, neural RobustnessRobustness
Adaptive, robust, fault-tolerant, reflectiveAdaptive, robust, fault-tolerant, reflective Non-linearityNon-linearity
Non-Linear, Hybrid Non-Linear, Hybrid SizeSize
Multivariable, distributedMultivariable, distributed ConcurrencyConcurrency
Agent-based, networkedAgent-based, networked IntegrationIntegration
Systems of systems, legacies Systems of systems, legacies
5757Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Any hope ?Any hope ?
New control software paradigms are New control software paradigms are needed to tackle complexityneeded to tackle complexity Componentize and composeComponentize and compose
• An approach based on systems engineeringAn approach based on systems engineering• Problems of composabilityProblems of composability
Evolve and protectEvolve and protect• An approach based on emergent systemsAn approach based on emergent systems• Problems of unpredictabilityProblems of unpredictability
Strong emphasis on architectureStrong emphasis on architecture Control + software + intelligenceControl + software + intelligence
5858Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Some Complexity AttacksSome Complexity Attacks
Brute forceBrute force: : MoneyMoney It needs power: It needs power: SupercomputingSupercomputing
ApproximationApproximation: : WorkWork Poor man approach: Poor man approach: LinearizationLinearization
Divide and conquerDivide and conquer: : EngineeringEngineering Needs knowledge: Needs knowledge: ModularizationModularization
Change of viewChange of view: : TheoryTheory It needs It needs deepdeep insight: insight: Conceptual revolutionConceptual revolution
5959Exystence Workshop / R.Sanz / Torino 2003Exystence Workshop / R.Sanz / Torino 2003
Cop
yrig
ht ©
20
03 T
he
Au
tono
mou
s S
yste
ms
La
bor
ato
ry. w
ww
.asl
ab
.org
. A
ll ri
gh
ts r
ese
rve
d.
Autonomous Systems LaboratoryAutonomous Systems LaboratoryA
Conscious Complex ControllersConscious Complex Controllers
Dr. Chandra ... ?Dr. Chandra ... ?