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Example56_Small_Package_Delivery.mp

+/* Small Package Delivery
+
+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?"
+
+Non-combatant Scenario 1 authored by N. Roberts (Engility)
+MP model authored by K. Giammarco (NPS) and D. Shifflett (NPS)
+
+This model shows only two scenarios due to overloading constraints
+(constraints that suppress entire branches of execution that a user
+intended to permit).
+
+Removing everything except the SCHEMA definition and the Air_Vehicle 
+root (line 36 and lines 114-128) and running that model subset, one can 
+see 6 event traces, one of which is unexpected: the Air_Vehicle drops 
+the payload with no vessel in sight (trace 6).
+
+*/
+
+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;
+