l1b_mod_pro_pres

l1b_mod_pro_pres - Model-based Programming: From Embedded...

Info iconThis preview shows pages 1–9. Sign up to view the full content.

View Full Document Right Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: Model-based Programming: From Embedded Systems To Robotic Space Explorers Brian C. Williams CSAIL Massachusetts Institute of Technology Failures Highlight The Challenge of Robustness Clementine Mars Climate Orbiter Mars Orbiter Mars Polar Lander courtesy of JPL Complexity Is In Coordinating Subsystems Large collections of devices must work in concert to achieve goals Devices indirectly observed and controlled. Must manage large levels of redundancy. Need quick, robust response to anomalies throughout life. Mars Polar Lander Failure Programmers are overwhelmed by the bookkeeping of reasoning about unlikely hidden states Leading Diagnosis: Legs deployed during descent. Noise spike on leg sensors latched by software monitors. Laser altimeter registers 50ft. Begins polling leg monitors to determine touch down. Latched noise spike read as touchdown. Engine shutdown at ~50ft. Fault Aware Systems: Create embedded languages That reason and coordinate on the fly from models Mission Design Begins With A Storyboard engine to standby planetary approach switch to inertial nav rotate to entry-orient & hold attitude separate lander Mission Storyboards Specify Evolving States Descent engine to standby: off heating 30-60 sec standby engine to standby planetary approach separate lander switch to inertial nav rotate to entry-orient & hold attitude Mission Storyboards Specify Evolving States engine to standby Spacecraft approach: 270 mins delay relative position wrt Mars not observable based on ground computations of cruise trajectory planetary approach separate lander switch to inertial nav rotate to entry-orient & hold attitude Mission Storyboards Specify Evolving States...
View Full Document

Page1 / 21

l1b_mod_pro_pres - Model-based Programming: From Embedded...

This preview shows document pages 1 - 9. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online