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Pamela Dyer authoredPamela Dyer authored
Small_Package_Delivery.mp 12.49 KiB
/*┬────────────────────────────────────────────────────────┐
│*│ ┌─[ Title and Authors ]──────────────────────────────┐ │
│*│ │ Model of Small Package Delivery │ │
│*│ │ Created by David Shifflett and Kristin Giammarco │ │
│*│ │ based on a non-combatant scenario authored by │ │
│*│ │ Nataki Roberts. │ │
│*│ │ Edited by Keane Reynolds in July, 2021. │ │
│*│ │ Edited by Pamela Dyer in July and August, 2021. │ │
│*│ └────────────────────────────────────────────────────┘ │
│*│ │
│*│ ┌─[ Purpose ]────────────────────────────────────────┐ │
│*│ │ To demonstrate unexpected emergent behavior in a │ │
│*│ │ search and rescue scenario and to illustrate the │ │
│*│ │ impacts of overloading constraints in an MP model. │ │
│*│ └────────────────────────────────────────────────────┘ │
│*│ │
│*│ ┌─[ Description ]────────────────────────────────────┐ │
│*│ │ This model demonstrates overusing COORDINATE and │ │
│*│ │ ENSURE statements to create a model of a complex │ │
│*│ │ emergency situation that has been overconstrained. │ │
│*│ │ Building a complex scenario without frequently │ │
│*│ │ running the model can make finding parts of the │ │
│*│ │ model overloaded with constraints difficult. │ │
│*│ │ During debugging, an unexpected emergent behavior │ │
│*│ │ was found in which payload was dropped without a │ │
│*│ │ vessel in sight. │ │
│*│ │ │ │
│*│ │ Taken from use case description in the Skyzer IM20 │ │
│*│ │ Mission Model (Non-Combatant Operations Scenario): │ │
│*│ │ "Family traveling from PR to Florida in a 1984 │ │
│*│ │ Catalina 36 have an emergency out on sea. A 40 │ │
│*│ │ year old father is diabetic and has ran [sic] out │ │
│*│ │ of insulin and because he is the main sail │ │
│*│ │ operator, the family is suck [sic] at sea until │ │
│*│ │ medical attention can arrived [sic]. The major │ │
│*│ │ problem is that the USCG Cutter is four hours out │ │
│*│ │ on another mission, from the last known location │ │
│*│ │ point of the sailboat last communication beacon. │ │
│*│ │ But the there is a Navy ship in closer proximity │ │
│*│ │ with UAV capabilities. The USS Fitzgerald is 75 nm │ │
│*│ │ from that last know location point and has the │ │
│*│ │ needed medical supplies. USS Fitzgerald also has │ │
│*│ │ UAV capabilities to transport the supplies in the │ │
│*│ │ required time line. This Navy capability can │ │
│*│ │ provide the needed supplies within the required │ │
│*│ │ time line without risk of placing the patient at │ │
│*│ │ risk of a diabetic coma. The Navy’s UAV can fly │ │
│*│ │ out to the sailboat and drop off the medical │ │
│*│ │ supplies until the USCG can arrived to transport │ │
│*│ │ the family to safety. Depends on: range, sea │ │
│*│ │ states, weather, visibility, day, night. Is it │ │
│*│ │ raining? Hailing?" │ │
│*│ └────────────────────────────────────────────────────┘ │
│*│ │
│*│ ┌─[ References ]─────────────────────────────────────┐ │
│*│ │ "Skyzer IM20 Mission Model (Non-Combatant │ │
│*│ │ Operations Scenario)" in Giammarco, K; │ │
│*│ │ Carlson, C., Blackburn, M. "Verification and │ │
│*│ │ Validation (V&V) of System Behavior │ │
│*│ │ Specifications." Final Technical Report │ │
│*│ │ SERC-2018-TR-116; Systems Engineering Research │ │
│*│ │ Center: Hoboken, NJ, USA, 2018. Available online: │ │
│*│ │ https://apps.dtic.mil/sti/citations/AD1063328 │ │
│*│ └────────────────────────────────────────────────────┘ │
│*│ │
│*│ ┌─[ Search Terms ]───────────────────────────────────┐ │
│*│ │ behavior, small package delivery; autonomous; │ │
│*│ │ ENSURE condition │ │
│*│ └────────────────────────────────────────────────────┘ │
│*│ ││*│ ┌─[ Instructions ]───────────────────────────────────┐ │
│*│ │ Run for Scope 1. Notice that this model shows │ │
│*│ │ fewer scenarios than intended by the authors due │ │
│*│ │ to overloading constraints (constraints that │ │
│*│ │ suppress entire branches of execution that a user │ │
│*│ │ intended to permit). After an initial run and │ │
│*│ │ inspection, comment everything out except the │ │
│*│ │ SCHEMA definition and the Air_Vehicle root, run at │ │
│*│ │ Scope 1, and inspect the six resulting event │ │
│*│ │ traces. Two of these are unexpected. In Trace 5, │ │
│*│ │ there is no vessel in sight but the Air_Vehicle │ │
│*│ │ still drops the payload and the payload is on │ │
│*│ │ target. In Trace 6, there is no vessel in sight │ │
│*│ │ but the Air_Vehicle still drops the payload and │ │
│*│ │ the payload misses the target. │ │
│*│ ├─[ Run Statistics ]─────────────────────────────────┤ │
│*│ │ Scope 1: 2 traces in less than 1 sec. │ │
│*│ └────────────────────────────────────────────────────┘ │
└*┴───────────────────────────────────────────────────────*/
SCHEMA Small_Package_Delivery
/*-----------------------
RESCUEE BEHAVIORS
-------------------------*/
ROOT Rescuee: { Victim, EPIRB };
Victim: ( Receive_Payload
Emergency_Averted |
Payload_Not_Received
Diabetic_Coma );
EPIRB:;
/*-----------------------------
MISSION COMMANDER BEHAVIORS
-------------------------------*/
ROOT Mission_Commander: ( Confirm_Vessel
( Confirms_Drop_via_Video_Feed |
Confirms_Payload_Misses_Target ) |
Confirm_Not_Found )
Authorized_UAV_Return;
/*-----------------------------
UAV OPERATOR BEHAVIORS
-------------------------------*/
ROOT UAV_Operator: [ Command_UAV_To_Drop_Payload ]
[ Release_UAV_to_Second_Location ]
Command_UAV_Return
Transfer_to_LOS_Communication
Command_UAV_to_Land
Turn_Off_UAV;
/***INTERACTIONS***/
COORDINATE $a: Confirm_Vessel FROM Mission_Commander,
$b: Command_UAV_To_Drop_Payload FROM UAV_Operator
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: ( Confirms_Drop_via_Video_Feed |
Confirms_Payload_Misses_Target ) FROM Mission_Commander,
$b: Release_UAV_to_Second_Location FROM UAV_Operator
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Authorized_UAV_Return FROM Mission_Commander,
$b: Command_UAV_Return FROM UAV_Operator
DO ADD $a PRECEDES $b; OD;
/*-----------------------------
INMARSAT BEHAVIORS
-------------------------------*/
ROOT INMARSAT: Relay_Data_and_Comm_UAV_Communication;
/*-----------------------------
Control Station BEHAVIORS
-------------------------------*/
ROOT Control_Station: Receive_Video;
/***INTERACTIONS***/
COORDINATE $a: Receive_Video FROM Control_Station,
$b: ( Confirm_Vessel | Confirm_Not_Found ) FROM Mission_Commander
DO ADD $a PRECEDES $b; OD;
/*-----------------------------
Air Vehicle BEHAVIORS
-------------------------------*/
ROOT Air_Vehicle: Start_GPS_Navigation
Transit_to_Mission_Location
Detect_Beacon
( <<0.90>> Locate_Vessel
Holds_over_Vessel |
<<0.10>> Vessel_Not_Found )
Transmit_Video
[ Receive_Command
Drop_Payload
( <<0.98>> Payload_on_Target |
<<0.02>> Payload_Misses_Target )
]
Return_to_Hold_Point
Shut_Down;
/***INTERACTIONS***/
COORDINATE $a: Relay_Data_and_Comm_UAV_Communication FROM INMARSAT,
$b: Start_GPS_Navigation FROM Air_Vehicle
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Transmit_Video FROM Air_Vehicle,
$b: Receive_Video FROM Control_Station
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Command_UAV_To_Drop_Payload FROM UAV_Operator,
$b: Receive_Command FROM Air_Vehicle
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Payload_on_Target FROM Air_Vehicle,
$b: Receive_Payload FROM Rescuee
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Payload_on_Target FROM Air_Vehicle,
$b: Confirms_Drop_via_Video_Feed FROM Mission_Commander
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Payload_Misses_Target FROM Air_Vehicle,
$b: Payload_Not_Received FROM Rescuee DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Payload_Misses_Target FROM Air_Vehicle,
$b: Confirms_Payload_Misses_Target FROM Mission_Commander
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Command_UAV_Return FROM UAV_Operator,
$b: Return_to_Hold_Point FROM Air_Vehicle
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Return_to_Hold_Point FROM Air_Vehicle,
$b: Transfer_to_LOS_Communication FROM UAV_Operator
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Turn_Off_UAV FROM UAV_Operator,
$b: Shut_Down FROM Air_Vehicle
DO ADD $a PRECEDES $b; OD;
/***CONSTRAINTS***/
ENSURE #Locate_Vessel > 0 -> #Confirm_Vessel > 0;
ENSURE #Vessel_Not_Found > 0 -> #Confirm_Not_Found > 0;
/*-------------------------------------
Launch and Recovery System BEHAVIORS
---------------------------------------*/
ROOT Launch_and_Recovery_System: { UCARS, RAST };
UCARS: Guide_UAV_To_Landing;
RAST: Grab_UAV;
/***INTERACTIONS***/
COORDINATE $a: Command_UAV_to_Land FROM UAV_Operator,
$b: Guide_UAV_To_Landing FROM Launch_and_Recovery_System
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Guide_UAV_To_Landing FROM Launch_and_Recovery_System,
$b: Grab_UAV FROM Launch_and_Recovery_System
DO ADD $a PRECEDES $b; OD;
COORDINATE $a: Grab_UAV FROM Launch_and_Recovery_System,
$b: Turn_Off_UAV FROM UAV_Operator
DO ADD $a PRECEDES $b; OD;