diff --git a/EthicalControlXmlSpyProject.spp b/EthicalControlXmlSpyProject.spp index cfb06899a5c2ca04cfa9f92f549831923a6dd7c0..16c9e6998f589cd5ff3d1b8cc0d80151cb7155e1 100644 --- a/EthicalControlXmlSpyProject.spp +++ b/EthicalControlXmlSpyProject.spp @@ -19,6 +19,7 @@ <File FilePath="ontologies\MissionExecutionOntology3.0.ttl" HomeFolder="Yes"/> <File FilePath="ontologies\MissionExecutionOntology3.1-DADM.tests.txt" HomeFolder="Yes"/> <File FilePath="ontologies\MissionExecutionOntology3.1-DADM.ttl" HomeFolder="Yes"/> + <File FilePath="ontologies\MissionExecutionOntology3.1.owl" HomeFolder="Yes"/> </Folder> <Folder FolderName="Queries" ExtStr=".ttl,.rq,.txt"> <File FilePath="queries\MissionExecutionOntologyQuery_01.rq" HomeFolder="Yes"/> diff --git a/documentation/presentations/EthicalControlUnmannedSystemsOverview.pptx b/documentation/presentations/EthicalControlUnmannedSystemsOverview.pptx index 240531cfb6c3d11d50945b15f6f2e45feb8f04a7..b0e73d11a1abdbcea363313b5dd1995cbfd89124 100644 Binary files a/documentation/presentations/EthicalControlUnmannedSystemsOverview.pptx and b/documentation/presentations/EthicalControlUnmannedSystemsOverview.pptx differ diff --git a/missions/avcl/HospitalShipEmDecoy1.Opponent.xml b/missions/avcl/HospitalShipEmDecoy1.Opponent.xml index 2e5399a3a3cc2d6802c886c8b31165c84b1074c4..f519dcc0436d617a826b6003dafa6c0bce4519e5 100644 --- a/missions/avcl/HospitalShipEmDecoy1.Opponent.xml +++ b/missions/avcl/HospitalShipEmDecoy1.Opponent.xml @@ -1,5 +1,5 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" vehicleName="Opponent small boat" vehicleType="USV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd"> +<AVCL version="3.0" vehicleName="Opponent small boat" vehicleType="USV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.0.xsd"> <head> <meta name="title" content="HospitalShipEmDecoy1.Opponent.xml"/> <meta name="description" content="AVCL mission where foe plants false flag electromagnetic (EM) decoy devices to provoke blue-on-blue robot swarm attack"/> diff --git a/missions/avcl/IS3460/AvclMissionGoalsTemplate.vsdx b/missions/avcl/IS3460/AvclMissionGoalsTemplate.vsdx new file mode 100644 index 0000000000000000000000000000000000000000..aa6c013be70f936bbd8224291f127b56496f7dac Binary files /dev/null and b/missions/avcl/IS3460/AvclMissionGoalsTemplate.vsdx differ diff --git a/missions/avcl/IS3460/AvclMissionGoalsTemplate.xml b/missions/avcl/IS3460/AvclMissionGoalsTemplate.xml new file mode 100644 index 0000000000000000000000000000000000000000..a12b0d78a827ab2e2fe3711687b281ef7ccdb2a6 --- /dev/null +++ b/missions/avcl/IS3460/AvclMissionGoalsTemplate.xml @@ -0,0 +1,63 @@ +<?xml version="1.0" encoding="UTF-8"?> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd"> + <!-- xsi:noNamespaceSchemaLocation="C:\x-nps-gitlab\EthicalControl\schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" --> + <head> + <meta name="title" content="AvclMissionGoalsTemplate.xml"/> + <meta name="description" content="Example mission to serve as template for new versions."/> + <meta name="created" content="4 August 2022"/> + <meta name="modified" content="31 August 2022"/> + <meta name="creator" content="Don Brutzman"/> + <meta name="reference" content="https://www.savage.nps.edu/EthicalControl"/> + <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> + <meta name="generator" content="Altova XMLSpy, https://www.altova.com"/> + <meta name="generator" content="Apache NetBeans, https://netbeans.apache.org"/> + <meta name="identifier" content="TODO"/> + <meta name="license" content="../license.html"/> + </head> + <body> + <UnitsOfMeasure distance="yards" angle="degrees" mass="kilograms" time="seconds"/> + <!-- TODO Vehicle vehicleName="RescueDrone" vehicleType="UAV" --> + <MissionAgenda description="."> + <GoalList> + <Goal id="Goal0" title="Deploy, Launch" description="Launch robot" phase="Launch" nextOnSuccess="Goal1" nextOnFailure="Goal99" nextOnException="Goal99"> + <Reposition description="Leave dock, proceed to basin"/> + <!-- TODO Risk personnel clear --> + </Goal> + <Goal id="Goal1" title="New Goal Name" description="provide a description" phase="Transit" nextOnSuccess="Goal2" nextOnFailure="Goal99" nextOnException="Goal99"> + <SpecialGoal description="TODO"/> + </Goal> + <Goal id="Goal2" title="New Goal Name" description="provide a description" phase="Retrieval" nextOnSuccess="Goal3" nextOnFailure="Goal99" nextOnException="Goal99"> + <SpecialGoal description="TODO"/> + </Goal> + <Goal id="Goal3" title="New Goal Name" description="provide a description" phase="Retrieval" nextOnSuccess="Goal4" nextOnFailure="Goal99" nextOnException="Goal99"> + <SpecialGoal description="TODO"/> + </Goal> + <Goal id="Goal4" title="New Goal Name" description="provide a description" phase="Retrieval" nextOnSuccess="Goal99" nextOnFailure="Goal99" nextOnException="Goal99"> + <SpecialGoal description="TODO"/> + </Goal> + <Goal id="Goal99" title="Return and recover" description="Retrieve if possible" phase="Recover Robot" nextOnSuccess="Goal99.1_TerminalSuccess" nextOnFailure="Goal99.2_TerminalFailute" nextOnException="Goal99.3_TerminalFailure"> + <Reposition description="Return to dock for recovery"/> + <!-- TODO Risk personnel clear --> + </Goal> + <Goal id="Goal99.1_TerminalSuccess" title="Halt and perform post-mission shutdown" phase="Recover Robot" description="Operations complete, final success state"> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Goal id="Goal99.2_TerminalFailute" title="Halt and activate recovery beacon" phase="Recover Robot" description="Unable to continue, final failure state"> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Goal id="Goal99.3_TerminalFailure" title="Halt and await further orders" phase="Recover Robot" description="Unexpected problem, final exception state"> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Duration value="6000"/> + </GoalList> + <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> + <LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/> + </LaunchPosition> + <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> + <!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes --> + <LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/> + </RecoveryPosition> + </MissionAgenda> + </body> +</AVCL> \ No newline at end of file diff --git a/missions/avcl/IS3460/CoffeeSearchRetrievalMap.png b/missions/avcl/IS3460/CoffeeSearchRetrievalMap.png new file mode 100644 index 0000000000000000000000000000000000000000..abcef716a3b4e7b20d103c213367f0dedea5cfb0 Binary files /dev/null and b/missions/avcl/IS3460/CoffeeSearchRetrievalMap.png differ diff --git a/missions/avcl/IS3460/CoffeeSearchRetrievalMapWaypoints.png b/missions/avcl/IS3460/CoffeeSearchRetrievalMapWaypoints.png new file mode 100644 index 0000000000000000000000000000000000000000..305ec787e427e27b0de86d99cbffc188ec1560f4 Binary files /dev/null and b/missions/avcl/IS3460/CoffeeSearchRetrievalMapWaypoints.png differ diff --git a/missions/avcl/IS3460/CoffeeSearchRetrievalMission.png b/missions/avcl/IS3460/CoffeeSearchRetrievalMission.png new file mode 100644 index 0000000000000000000000000000000000000000..2f46decd96b196999a6e92c60bc70a690bdc7db4 Binary files /dev/null and b/missions/avcl/IS3460/CoffeeSearchRetrievalMission.png differ diff --git a/missions/avcl/IS3460/CoffeeSearchRetrievalMission.vsdx b/missions/avcl/IS3460/CoffeeSearchRetrievalMission.vsdx new file mode 100644 index 0000000000000000000000000000000000000000..1787b3d31c96d59dfadae2a4cd09b602b5cfe937 Binary files /dev/null and b/missions/avcl/IS3460/CoffeeSearchRetrievalMission.vsdx differ diff --git a/missions/avcl/IS3460/CoffeeSearchRetrievalMission.xml b/missions/avcl/IS3460/CoffeeSearchRetrievalMission.xml new file mode 100644 index 0000000000000000000000000000000000000000..4403aad1c00807b8e7efbb4291ab9d81448f7291 --- /dev/null +++ b/missions/avcl/IS3460/CoffeeSearchRetrievalMission.xml @@ -0,0 +1,66 @@ +<?xml version="1.0" encoding="UTF-8"?> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd"> + <!-- xsi:noNamespaceSchemaLocation="C:\x-nps-gitlab\EthicalControl\schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" --> + <head> + <meta name="title" content="CoffeeSearchRetrievalMission.xml"/> + <meta name="description" content="Simple mission: send drone to get a cup of coffee and bring it back to classroom."/> + <meta name="created" content="4 August 2022"/> + <meta name="modified" content="8 August 2022"/> + <meta name="creator" content="Don Brutzman"/> + <meta name="reference" content="https://www.savage.nps.edu/EthicalControl"/> + <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> + <meta name="generator" content="Altova XMLSpy, https://www.altova.com"/> + <meta name="generator" content="Apache NetBeans, https://netbeans.apache.org"/> + <meta name="identifier" content="TODO"/> + <meta name="license" content="../license.html"/> + </head> + <body> + <UnitsOfMeasure distance="yards" angle="degrees" mass="kilograms" time="seconds"/> + <MissionAgenda description="Goals include list of transit waypoints, supply pickup from Starbucks or Cafe Del Monte, then return to classroom."> + <GoalList> + <Goal id="Goal0" title="Deploy, Launch" description="Launch robot" phase="Launch" nextOnSuccess="Goal1" nextOnFailure="Goal3" nextOnException="Goal3"> + <Reposition description="Leave dock, proceed to basin"/> + <!-- TODO Risk personnel clear --> + </Goal> + <Goal id="Goal1" title="Transit safely" description="Set of waypoints" phase="Transit" nextOnSuccess="Goal2.1" nextOnFailure="Goal3" nextOnException="Goal3"> + <Reposition description="Follow set of waypoints"/> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Goal id="Goal2.1" title="Get Coffee" description="Starbucks" phase="Retrieval" nextOnSuccess="Goal3" nextOnFailure="Goal3" nextOnException="Goal3"> + <Supply description="Pickup coffee"/> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Goal id="Goal2.2" title="Get Coffee" description="Cafe Del Monte" phase="Retrieval" nextOnSuccess="Goal3" nextOnFailure="Goal3" nextOnException="Goal3"> + <Supply description="Pickup coffee"/> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Goal id="Goal3" title="Transit safely" description="Set of waypoints" phase="Transit" nextOnSuccess="Goal3" nextOnFailure="Goal3" nextOnException="Goal3"> + <Reposition description="Follow set of waypoints"/> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Goal id="Goal99" title="Return and recover" description="Land on dock" phase="Recover Robot" nextOnSuccess="Goal99.1_TerminalSuccess" nextOnFailure="Goal99.2_TerminalFailute" nextOnException="Goal99.3_TerminalFailure"> + <Reposition description="Return to classroom"/> + <!-- TODO Risk personnel clear --> + </Goal> + <Goal id="Goal99.1_TerminalSuccess" title="Halt and perform post-mission shutdown" phase="Recover Robot" description="Operations complete, final success state"> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Goal id="Goal99.2_TerminalFailute" title="Halt and activate recovery beacon" phase="Recover Robot" description="Unable to continue, final failure state"> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Goal id="Goal99.3_TerminalFailure" title="Halt and await further orders" phase="Recover Robot" description="Unexpected problem, final exception state"> + <Risk riskName="RE11.4.1_UnderstandingReasoningMethodsLimitations" mitigation="watchstander training" mandatory="true"/> + </Goal> + <Duration value="6000"/> + </GoalList> + <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> + <LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/> + </LaunchPosition> + <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> + <!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes --> + <LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/> + </RecoveryPosition> + </MissionAgenda> + </body> +</AVCL> \ No newline at end of file diff --git a/missions/avcl/IS3460/CoffeeSearchRetrievalWhiteboard.jpg b/missions/avcl/IS3460/CoffeeSearchRetrievalWhiteboard.jpg new file mode 100644 index 0000000000000000000000000000000000000000..09700657f8ca8997baf6767f2eb44b4bd40a1efb Binary files /dev/null and b/missions/avcl/IS3460/CoffeeSearchRetrievalWhiteboard.jpg differ diff --git a/missions/avcl/IS3460/CreatingRobotMissionPlansAVCL.pptx b/missions/avcl/IS3460/CreatingRobotMissionPlansAVCL.pptx new file mode 100644 index 0000000000000000000000000000000000000000..9e23126e184f0855cef2f1127c07c90b4b7c37d1 Binary files /dev/null and b/missions/avcl/IS3460/CreatingRobotMissionPlansAVCL.pptx differ diff --git a/missions/avcl/SailorOverboard.xml b/missions/avcl/SailorOverboard.xml index b31da6a7f6de88776baf3db0b658c897a0aa75bf..c440f8a715585c36ca4b32b958e068ab66be6145 100644 --- a/missions/avcl/SailorOverboard.xml +++ b/missions/avcl/SailorOverboard.xml @@ -1,5 +1,5 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd"> +<AVCL version="3.0" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://savage.nps.edu/EthicalControl/schemas/AVCL.3.0.xsd"> <head> <meta name="title" content="SailorOverboard.xml"/> <meta name="description" content="AVCL mission to perform SAILOR OVERBOARD operations, carried out in concert with shipboard emergency procedures."/> diff --git a/ontologies/DimensionsAutonomousDecisionMaking/DimensionsAutonomousDecisionMakingOntologyDesign.docx b/ontologies/DimensionsAutonomousDecisionMaking/DimensionsAutonomousDecisionMakingOntologyDesign.docx index 65f8e87581716a45968f714d67d8dfecab37ca3d..33d5220009a6f5a793c19a728a9fc6512bdb3200 100644 Binary files a/ontologies/DimensionsAutonomousDecisionMaking/DimensionsAutonomousDecisionMakingOntologyDesign.docx and b/ontologies/DimensionsAutonomousDecisionMaking/DimensionsAutonomousDecisionMakingOntologyDesign.docx differ