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Hierarchical Hybrid-Model Based Design, Verification, Simulation, and Synthesis of Mission Control for Autonomous Underwater Vehicles

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Hierarchical Hybrid-Model Based Design, Verification, Simulation, and Synthesis of Mission Control for Autonomous Underwater Vehicles University of Kentucky UKnowledge University of Kentucky Doctoral Dissertations Graduate School 2005 HIERARCHICAL HYBRID-MODEL BASED DESIGN, VERIFICATION, SIMULATION, AND SYNTHESIS OF MISSION CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES Siddhartha Bhattacharyya University of Kentucky, [email protected] Right click to open a feedback form in a new tab to let us know how this document benefits ou.y Recommended Citation Bhattacharyya, Siddhartha, "HIERARCHICAL HYBRID-MODEL BASED DESIGN, VERIFICATION, SIMULATION, AND SYNTHESIS OF MISSION CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES" (2005). University of Kentucky Doctoral Dissertations. 344. https://uknowledge.uky.edu/gradschool_diss/344 This Dissertation is brought to you for free and open access by the Graduate School at UKnowledge. It has been accepted for inclusion in University of Kentucky Doctoral Dissertations by an authorized administrator of UKnowledge. For more information, please contact [email protected]. ABSTRACT OF DISSERTATION Siddhartha Bhattacharyya The Graduate School University of Kentucky 2005 HIERARCHICAL HYBRID-MODEL BASED DESIGN, VERIFICATION, SIMULATION, AND SYNTHESIS OF MISSION CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES ABSTRACT OF DISSERTATION A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy in the College of Engineering at University of Kentucky By Siddhartha Bhattacharyya Lexington, Kentucky Co-Director: Dr. Ratnesh Kumar, Professor of Electrical Engineering and Dr. L.E. Holloway, Professor of Electrical Engineering Ames, Iowa Lexington, Kentucky 2005 Copyright © Siddhartha Bhattacharyya 2005 ABSTRACT OF DISSERTATION HIERARCHICAL HYBRID-MODEL BASED DESIGN, VERIFICATION, SIMULATION, AND SYNTHESIS OF MISSION CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES The objective of modeling, verification, and synthesis of hierarchical hybrid mission control for underwater vehicle is to (i) propose a hierarchical architecture for mission control for an autonomous system, (ii) develop extended hybrid state machine models for the mission control, (iii) use these models to verify for logical correctness, (iv) check the feasibility of a simulation software to model the mission executed by an autonomous underwater vehicle (AUV) (v) perform synthesis of high-level mission coordinators for coordinating lower-level mission controllers in accordance with the given mission, and (vi) suggest further design changes for improvement. The dissertation describes a hierarchical architecture in which mission level controllers based on hybrid systems theory have been, and are being developed using a hybrid systems design tool that allows graphical design, iterative redesign, and code generation for rapid deployment onto the target platform. The goal is to support current and future autonomous underwater vehicle (AUV) programs to meet evolving requirements and capabilities. While the tool facilitates rapid redesign and deployment, it is crucial to include safety and performance verification into each step of the (re)design process. To this end, the modeling of the hierarchical hybrid mission controller is formalized to facilitate the use of available tools and newly developed methods for formal verification of safety and performance specifications. A hierarchical hybrid architecture for mission control of autonomous systems with application to AUVs is proposed and a theoretical framework for the models that make up the architecture is outlined.. An underwater vehicle like any other autonomous system is a hybrid system, as the dynamics of the vehicle as well as it’s vehicle level control is continuous whereas the mission level control is discrete, making the overall system a hybrid system i.e., one possessing both continuous and discrete states. The hybrid state machine models of the mission controller modules is derived from their implementation done using TEJA, a software for representing hybrid systems with support for auto code generation. The verification of their logical correctness properties has been done using UPPAAL, a software tool for verification of timed automata a special kind of hybrid system. A Teja to Uppaal converter, called dem2xml , has been created at Applied Reserarch Lab that converts a hybrid (timed) autonomous system description in Teja to an Uppaal system description. Verification work involved developing abstract models for the lower level vehicle controllers with which the mission controller modules interact and follow a hierarchical approach: Assuming the correctness of level-zero or vehicle controllers, we establish the correctness of level-one mission controller modules, and then the correctness of level-two modules, etc. The goal of verification is to show that any “valid” meaning for a mission formalized in our research verifies the safe and correct execution of actions. Simulation of the sequence of actions executed for each of the operations give a better view of the combined working of the mission coordinators and the low level controllers. So we next looked into the feasibility of simulating the operations executed during a mission. A Perl program has been developed to convert the UPPAAL files in .xml format to OpenGL graphic files. The graphic files simulate the steps involved in the execution of a sequence of operations executed by an AUV. The highest level coordinators send mission orders to be executed by the lower level controllers. So a more generalized design of the highest level controllers would help to incorporate the execution of a variety of missions for a vast field of applications. Initially, we consider manually synthesized mission coordinator modules. Later we design automated synthesis of coordinators. This method synthesizes mission coordinators which coordinate the lower level controllers for the execution of the missions ordered and can be used for any autonomous system. KEYWORDS: Autonomous Systems, Hybrid Systems, Verification, Hierarchical Architecture, Coordinator Synthesis Siddhartha Bhattacharyya 09/15/05 HIERARCHICAL HYBRID-MODEL BASED DESIGN, VERIFICATION, SIMULATION, AND SYNTHESIS OF MISSION CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES By Siddhartha Bhattacharyya Dr. Ratnesh Kumar Director of Dissertation Dr. YuMing Zhang Director of Graduate Studies 09/15/2005 RULES FOR THE USE OF DISSERTATIONS Unpublished dissertations submitted for the Doctor's degree and deposited in the University of Kentucky Library are as a rule open for inspection, but are to be used only with due regard to the rights of the authors. Bibliographical references may be noted, but quotations or summaries of parts may be published only with the permission of the author, and with the usual scholarly acknowledgments. Extensive copying or publication of the dissertation in whole or in part also requires the consent of the Dean of the Graduate School of the University of Kentucky. A library that borrows this dissertation for use by its patrons is expected to secure the signature of each user. Name Date DISSERTATION Siddhartha Bhattacharyya The Graduate School University of Kentucky 2005 HIERARCHICAL HYBRID-MODEL BASED DESIGN, VERIFICATION, SIMULATION, AND SYNTHESIS OF MISSION CONTROL FOR AUTONOMOUS UNDERWATER VEHICLES DISSERTATION A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy in the College of Engineering at University of Kentucky By Siddhartha Bhattacharyya Lexington, Kentucky Co-Director: Dr. Ratnesh Kumar, Professor of Electrical Engineering and Dr. L.E. Holloway, Professor of Electrical Engineering Ames, Iowa Lexington, Kentucky 2005 Copyright © Siddhartha Bhattacharyya 2005 ACKNOWLEDGMENTS The following dissertation, while an individual work, benefited from the insights and direction of several people. First, my Dissertation Co-Chairs, Dr. Ratnesh Kumar and Dr.L.E.Holloway, exemplifies the high quality scholarship to which I aspire. In addition, they provided timely and instructive comments and evaluation at every stage of the dissertation process, allowing me to complete this project on schedule. Next, I wish to thank the complete Dissertation Committee, and outside reader, respectively: Dr. Zhang, Dr. Manivannan and Dr. Baxter. Each individual provided insights that guided and challenged my thinking, substantially improving the finished product. In addition to the technical and instrumental assistance above, I received equally important assistance from family and friend (Ganesh). My wife, Srabosti, provided on-going support throughout the dissertation process, as well as technical assistance critical for completing the project in a timely manner. My father, (Dr. S.K. Bhattacharyya), mother (Purabi Bhattacharyya), sister (Suparna chatterjee) and brother in law (Debasish chatterjee) instilled in me, from an early age, the desire and skills to obtain the Ph.D. Finally, I wish to thank the respondents of my study (who remain anonymous for confidentiality purposes). Their comments and insights created an informative and interesting project with opportunities for future work. iii Table of contents Table of Figures………………………………………………………………………......vi 1 Introduction................................................................................................................. 1 2 Hierarchical Hybrid Model-based Architecture.......................................................... 5 2.1 Proposed Hierarchical Hybrid Mission Control Architecture .......................... 11 2.2 Hybrid Mission Controller for a Survey AUV ................................................
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