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models/Application_examples/Small_Package_Delivery_Basline_Case.mp

+/*┬────────────────────────────────────────────────────────┐
+│*│ ┌─[ Title and Authors ]──────────────────────────────┐ │
+│*│ │ Non-Combatant Operations Scenario 1	             │ │
+│*│ │  Created by Kristin Giammarco and David Shifflett	 │ │
+│*│ │  last edited on the 13th of August, 2018			 │ │
+│*│ └────────────────────────────────────────────────────┘ │
+│*│                                                        │
+│*│ ┌─[ Purpose ]────────────────────────────────────────┐ │
+│*│ │ To provide an MP transcription of activites from   │ │
+│*│ │ a SysML swim lanes activity diagram (single 	 	 │ │
+│*│ │ phase).                                     		 │ │
+│*│ └────────────────────────────────────────────────────┘ │
+│*│                                                        │
+│*│ ┌─[ Description ]────────────────────────────────────┐ │
+│*│ │ Taken from use case description in the Skyzer IM20 │ │
+│*│ │ Mission Model:    								 │ │
+│*│ │ "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 run out of   	 │ │
+│*│ │ insulin and because he is the main sail operator,  │ │
+│*│ │ the family is stuck at sea until medical 	 		 │ │
+│*│ │ attention can arrive. 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 dropoff 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 ]─────────────────────────────────────┐ │
+│*│ │ Transit/Navigate Task in "Non-combatant Scenario 1"│ │
+│*│ │ 	authored by Nataki Roberts, 2017    			 │ │
+│*│ └────────────────────────────────────────────────────┘ │
+│*│                                                        │
+│*│ ┌─[ Search Terms ]───────────────────────────────────┐ │
+│*│ │ behavior, UAV; Skyzer, autonomous            		 │ │
+│*│ └────────────────────────────────────────────────────┘ │
+│*│                                                        │
+│*│ ┌─[ Instructions ]───────────────────────────────────┐ │
+│*│ │ Run for Scope 1.  							  	 │ │
+│*│ ├─[ Run Statistics ]─────────────────────────────────┤ │
+│*│ │ Scope 1: 1 trace in less than 1 sec.               │ │
+│*│ └────────────────────────────────────────────────────┘ │
+└*┴───────────────────────────────────────────────────────*/
+
+
+SCHEMA Non_Combatant_Operations_Scenario_1_Phase_3_Transit_Navigate
+
+
+/*-----------------------
+  RESCUEE BEHAVIORS
+-------------------------*/
+ROOT Rescuee: { Victim, EPIRB };
+
+	Victim: Receive_Payload;
+	EPIRB:;
+
+
+/*-----------------------------
+  MISSION COMMANDER BEHAVIORS
+-------------------------------*/
+ROOT Mission_Commander: Confirm_Vessel
+                        Confirms_Drop_via_Video_Feed
+                        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   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	FROM Mission_Commander
+    DO ADD $a PRECEDES $b; OD;
+
+/*-----------------------------
+  AIR VEHICLE BEHAVIORS
+-------------------------------*/
+ROOT Air_Vehicle: Start_GPS_Navigation
+                  Transit_to_Mission_Location
+                  Detect_Beacon
+                  Locate_Vessel
+                  Holds_over_Vessel
+                  Transmit_Video
+                  Receive_Command
+                  Drop_Payload
+                  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: Drop_Payload           FROM Air_Vehicle,
+           $b: Receive_Payload        FROM Rescuee
+    DO ADD $a PRECEDES $b; OD;
+
+COORDINATE $a: Drop_Payload                 FROM Air_Vehicle,
+           $b: Confirms_Drop_via_Video_Feed 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;
+
+/*-----------------------------
+  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;
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