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Architecture For An Autonomous Reclonfigureable Intelligent Control System (Arics) Yavnai RAFAEL, P.O.Box 2250 39 Haifa 3102!1, ISRAEL Tel 972 4 990 Fax 972 990
Architecture For An Autonomous Reclonfigureable Intelligent Control System (Arics) Yavnai RAFAEL, P.O.Box 2250 39 Haifa 3102!1, ISRAEL Tel 972 4 990 Fax 972 990
Architecture For An Autonomous Reclonfigureable Intelligent Control System (Arics) Yavnai RAFAEL, P.O.Box 2250 39 Haifa 3102!1, ISRAEL Tel 972 4 990 Fax 972 990
Arie Yavnai
ARICS is an embedded Autonomous Mission the above mentioned approaches and on the
Controller (AMC) , designed to be used onboard associated architectures , can be found elsewhere
highly Autonomous Vehicles (AV). It is designed in the relevant literature.
to meet the requirements for extended autonomous
capabilities. Such capabilities are required by long ANCSs architecture is hybrid. This architecture
range ,long endurance AVs, such as Autonomous was chosen because it combines the characteristics
Underwater Vehicles - AUVs. Although the of both reasoning-driven model-based functional
architecture is kept as generic and common as hierarchy , as well as the characteristics of
possible , the specific Functional Processing reactive-reflexive behavior hierarchy , while
Modules (FPMs) may be different for various avoiding their inherent weaknesses. Hybrid
vehicles and applications . ARICS is designed to architecture supports both the advantages of
provide the AUV with the following onboard , real reasoning-driven model-based functional
time , self-contained capabilities : a) Goal-directed hierarchy, e.g., goal-directed planning , model-
and event-driven reactive mission and system based prediction , assimilation of multiple data
management ; b) Plan updating , adjusting , or sources ,and flexible handling of complex
replanning ; c) Complete in-mission, on-the-move , behaviors, as well as the advantages of reactive-
planning ; d) Context-sensitive and event-driven reflexive behavior hierarchy, e.g., good
exception handling ; e) Fault management,error responsiveness, robustness and modularity.
recovery,and module/functionality reconfiguration
; f) Coordinating the AUVs cooperative operation From engineering point of view, it is our opinion
with other AUVs ,when operating in cooperative that the hybrid architecture is the most appropriate
mode ; g) Optimal resource management. architecture for real-world autonomous systems ,
which has to accomplish their pre-assigned
This paper describes the architecture of ARICS , mission and goals , autonomously , while operating
the architecture of the Mission Manager, the under severe schedule , environment conditions,
architecture of the main FMs , the data flow information uncertainty, and resources constraints .
between the processes , as well as , design
principles and implementation issues. 2. EIesien Guidelines
1
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I Manager I
Manager
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3.6 3.4 3.3
AL
Auxiliary Comm.
Armament Sensors
Systems System Avoidance
AUV SYSTEMS
243
Mission Plan
Global 13ata Base
Process
Report Events I
Coordinir
\.sync.
* Figure 2 : Mission
Manager DFD
244
( MISSION SEQUENCER
- _ _ _ _failed
_ _
MONITOR on command / ir
plan ulndated i
updote monitor porome ers
GLOBAL PLANNER
RE-PLANNING
- _ _ _ _ _ _ _ - _ _ _ _
SYSTEM COORDINATOR
SCHEDULiNG
_ _ - _ _ _ _ _ ~ _ - _ _ - _
EXCEPTION HANDLER
RESPONSE
in done I send results
_ _ - _ _ _ _ - _ _ - _ _ _
+--
EVALUATORISIMULATOII
SIMULATING
- _ - _ - _ _ ~ _
COOPERATiON COORDINATOR
site app. 1 set C:C on + read data
COORDINATIh
site leoved I set CC off
VME64 BUS
I
i/O PORT
SERIAL
245