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Transitioning in Hybrid Control Systems for Extreme Performance UAVs

This research explores a pattern for gradual transitioning in dynamic component replacement, enhancing the performance of hybrid control systems in UAVs. Supported by DARPA's Software Enabled Control Program.

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Transitioning in Hybrid Control Systems for Extreme Performance UAVs

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  1. A Pattern for Gradual Transitioning during Dynamic Component Replacement in Extreme Performance UAV Hybrid Control Systems Murat Guler, Linda Wills, Scott Clements, Bonnie Heck, George Vachtsevanos School of Electrical and Computer Engineering Georgia Institute of Technology This research has been supported by DARPA’s Software Enabled Control Program.

  2. Presentation Outline • Motivation: Hybrid Control Systems Design • Background: Open Control Platform (OCP) • Middleware for Distributed Hybrid Controls Applications • Transition Management Pattern • Design and Uses • Examples • Future

  3. Hybrid Controls Applications Fault Tolerant Control: Collective/RPM Controller Switch (Yavrucuk-Prasad2000)

  4. Identifying Transition Management Patterns Hybrid Control System Applications Stanford Vanderbilt/ Budapest GT Others... GT: Transition Management Patterns Support for transition strategies (discrete controller switch, signal blending, transient compensation, initialization) Open Control Platform (RT Corba-based distribution substrate)

  5. Presentation Outline • Motivation: Hybrid Control Systems Design • Background: Open Control Platform (OCP) • Middleware for Distributed Hybrid Controls Applications • Transition Management Pattern • Design and Uses • Examples • Future

  6. UAV Generic Hybrid Controls API GPS Flight Dynamics Model Reuse of generic patterns for hybrid control, configuration transition management IMU Reconfigurable Controls API Fault Detection/ Identification Components, signals, QoS , runtime changes Core OCP RPM Controller Real time distributed computing substrate with dynamic scheduling Vision System Mission Control Station Mode Transitioning Layers of Open Control Platform (OCP is developed by Georgia Tech, Boeing/WashU, Honeywell, UCBerkeley under DARPA’s Software Enabled Control Program.)

  7. Presentation Outline • Motivation: Hybrid Control Systems Design • Background: Open Control Platform (OCP) • Middleware for Distributed Hybrid Controls Applications • Transition Management Pattern • Design and Uses • Examples • Future

  8. Transition Management Goals • Ease of use by Controls Engineers. • Modularity and robustness. • Adaptability • No Interruption in Processing • Preserve Stability and Avoid Transients • Separation of Discrete and Continuous Control Logic in Hybrid Controls Systems • Transition Coordinator : High level discrete decision • Rewiring Mechanism : Rewiring/Collation of inputs and outputs • Blending Function : Low level continuous system controllers • Accommodation of distributed systems

  9. Transition Management Pattern • Intent • Graceful Transition in Reconfigurable Systems • Applicability • Online Reconfiguration of Components • Dynamic Transition of Hybrid Control Systems • Data Fusion • Example Uses • GPS/Sonar Sensor Data Fusion • Mode Transitioning on a UAV • Fault Tolerant UAV Model

  10. Component 1 1 1 * * * 1 1..* 1 1 Coordinator Rewiring/ Blending Collation Function Update() Mechanism * Push() BlendData () User Coordinator Mechanism User Function 1 Implementation Components of the Transition Manager Generic Pattern Implementation

  11. Component 1 1 1 * * * 1 1..* 1 1 Rewiring/ Coordinator Blending Collation Function Update() Mechanism * Push() BlendData () User Coordinator Mechanism User Function 1 Implementation GPS SONAR GPS_Signal = High / Sonar_Signal = Low / Activate Blending Activate GPS State BLEND GPS_Signal = Low / Sonar_Signal = High / Activate Blending Activate Sonar State Simple TM Example: Sonar/GPS

  12. Example Component Layout Transmitter 1 BlenderData1 Connector Receiver BlenderData3 Transmitter 2 BlenderData2

  13. Rewiring Mechanism Blender Function Layout of the Transition Manager Components C1 Transition Manager Component Input Ports Transition Coordinator C5 C2 Output Ports Rewiring Mechanism C3 Blender Function C6 C4

  14. Blend Data() Update() The Interaction of Blender Components Coordinator Mechanism Function Activation Phase Start Blending() Receiving Inputs Push() Operation Phase Sending Outputs End Blending() Deactivation Phase

  15. Distributed Transition Management Component 1 Transition Coordinator Coordinator Proxy Discrete State Data Coordinator Proxy Ports Component 2 Coordinator Proxy Transition Coordinator Input Ports Output Port Rewiring Mechanism Blending Function

  16. Presentation Outline • Motivation: Hybrid Control Systems Design • Background: Open Control Platform (OCP) • Middleware for Distributed Hybrid Controls Applications • Transition Management Pattern • Design and Uses • Examples • Future

  17. Hybrid Control System Applications Stanford Vanderbilt/ Budapest GT Others... Future Work GT: Standard reconfiguration/ transition strategies Specification & Modeling (GT & UCBerkeley) GT: Transition Management Patterns (discrete controller switch, signal blending,transient compensation, initialization) OCP (Boeing, GT, Honeywell, UCB)

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