Validating a HamiltonJacobi Approximation to Hybrid System一个混合系统的哈密顿雅可比近似.pptVIP

5/7/01 Level Set Animations Fighter Avionics Domains Mission Computing: Example Functionality Vehicle Management: Example Functionality Typical Mission Computing Legacy Characteristics =20 Hz Update Rates Up To 10 CPUs ~1M Lines of Code O(103) Components Proprietary Hardware Slow CPU, small memory Fast I/O Test-Based Verification Mil-Std Assembly Language Highly Optimized For Throughput and Memory Functional Architectures Flowchart designs Frequently No Maintained Requirements or Design Ad-hoc models used by algorithm developers Hardcoded Hardware Specific Single System Designs Isolated Use Of Multi-processing Schedulability analysis Frequently overly pessimistic to be used Typical Vehicle Management Legacy Characteristics 80/160 Hz Update Rates Single CPU System/ Quad Redundant Dual/Quad Redundant Sensors and Actuators 100K Lines of Code Extensive Built-In-Test 50% of code Extensive Testing Very conservative development culture 50% of effort Control System Models Carefully Developed And Used Home grown Matlab/MatrixX with auto code generation Outline Hybrid model of the physical system Reachability Reachable Set Toolkit Collision Avoidance System Dual aircraft demonstration User interaction with hybrid systems Autoland demonstration Software? Objectives Hybrid Systems Finite state machine with continuous dynamics in each mode Transitions can be User-controlled s Disturbance d Automatic g Verification through Reachability Verification A mathematical proof that the system satisfies a property Verification through Reachability Verification A mathematical proof that the system satisfies a property Verification through Reachability Verification A mathematical proof that the system satisfies a property Verification through Reachability Verification A mathematical proof that the system satisfies a property Reachable Set Interpretation Always remain outside Unsafe set States in Reachable set will eventually reach Unsa