MIT16_410F10_lec11a

MIT16_410F10_lec11a - Model-based Programming of Robotic...

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1 Model-based Programming of Robotic Space Explorers mers.csail.mit.edu Brian C. Williams 16.410 / 16.413 October 18 th , 2010 Outline ! Robotic Exploration ! Model-based Programming and Execution
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2 Robotic Spacecraft Require Large Human Teams to Operate± Image credit: NASA. © Source unknown. All rights reserved. This content is excluded from our Creative Commons license. For more information, see http://ocw.mit.edu/fairuse .
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3 But They Still Fail Mars Observer± 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 executives That reason and coordinate on the fly from models Mars Polar Lander Failure Image credit: NASA. © Source unknown. All rights reserved. This content is excluded from our Creative Commons license. For more information, see http://ocw.mit.edu/fairuse .
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4 Outline ! Robotic Exploration ! Model-based Programming and Execution 1999:Remote Agent on Deep Space One 1. ! Commanded by giving goals 2. ! Closes loop on goals 3. ! Reasons from commonsense models Goals± Diagnosis & Repair± Mission Manager± Executive± Planner/± Scheduler± Remote Agent± [Williams & Nayak, AAAI 95; Muscettola et al, AIJ 00]
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5 How Should Engineers Guide Model-based Executives? engine to standby± planetary approach± switch to² inertial nav± rotate to entry-orient² & hold attitude± separate² lander± ! Through programs? ! By specifying goals? ! A little of both? Descent engine to " standby # off± heating± 30-60 sec± standby± engine to standby± planetary approach± separate² lander± switch to² inertial nav± rotate to entry-orient² & hold attitude± Mission Storyboards Specify Evolving States
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6 engine to standby± planetary approach± separate² lander± switch to² inertial nav± rotate to entry-orient² & hold attitude± Switch navigation mode:± " Earth-relative # = Star Tracker + IMU± " Inertial # = IMU only± Mission Storyboards Specify Evolving States engine to standby± Rotate spacecraft:± ! command ACS to entry orientation± planetary approach± separate² lander± switch to² inertial nav± rotate to entry-orient² & hold attitude± Mission Storyboards Specify Evolving States
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7 engine to standby± Rotate spacecraft:± ! once entry orientation achieved,
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This note was uploaded on 12/26/2011 for the course SCIENCE 16.410 taught by Professor Prof.brianwilliams during the Fall '10 term at MIT.

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MIT16_410F10_lec11a - Model-based Programming of Robotic...

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