Arizona’s First University

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  • Arizonas First University.Command and Control (C2) Wind Tunnel:High-level Multi-rotorcraft Autonomy

    Jacob Gulotta, Diyang Chu, Ximing Yu, Hussain Al-Helal, Tapasya Patki,Jason Hansen, Maribel Hudson, and Jonathan Sprinkle, University of Arizona

    Featuring work by Janos Sztipanovits, Gabor Karsai, Himanshu Neema, Harmon Nine, Nicholas KottenstetteIn collaboration with Vanderbilt University, and the University of California, Berkeley. Supported by US AFOSR.

  • *Electrical and Computer Engineering06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"What domain is this anyway?Command and ControlLots of decision makers, looking at tactical data, making command decisions.Lots of monitorsLots of dataLots of decisions to makeTypes?Tactical actors (manned/unmanned components)GUI elements (human interfaces)Vignettes (tactical tests)Example vignette:A UAV is sent to a location to look for red trucks. After a red truck is spotted, the UAV reports its location. The C2 staff tell that UAV to track the red truck. The UAV then stays as close as it can.Example problems:What kind of UAV is it? What kinematic/dynamic properties does it have?What connection/network settings do I use? Am I communicating via TCP/IP, or something more primitive? How do I operate under non-robust network assumptions?

  • *Electrical and Computer Engineering06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"Graphically?* From an unpublished manuscript by Balogh, et al.

  • *Electrical and Computer Engineering06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"Characteristics of the integrative modeling environmentAbstractionsCommunication by message passing (i.e., interaction models)Messages are strongly typed (i.e., interaction types)Generate Structure for Existing ImplementationsCode synthesis of interaction types permits multi-language implementationsUse MATLAB, Java, c++, Colored Petri-Nets, etc., for implementationUnderlying discrete-event simulator permits pause/resumeScenarios are independent of typesEnable ExperimentationRuntime infrastructure enables various delaysLogging infrastructure for after-experimentation comparisons

  • *Electrical and Computer Engineering06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"Defining the Message and Integration Types

  • *Electrical and Computer Engineering06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"Defining the Message and Integration Types

  • *Electrical and Computer Engineering06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"Defining Component Interconnectivity

  • *Electrical and Computer Engineering06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"UA Work and Contributions: Todays AgendaScenario realism: a brief demo, and motivation for new technologyPermit pathological behavior by an opponent, to test C2 abilities

    Algorithms for camera-based detectionHow to simulate camera-based sensors in a heterogeneous environment

    Aerial search algorithms to detect ground vehiclesWhat is the best way to look for a vehicle on the ground?

    Control for search/tracking of aerial vehiclesNecessary components, and realistic values

    Future work enabledModeling of Embedded Human Systems

  • *Electrical and Computer Engineering06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"More ReadingJacob Gulotta, Diyang Chu, Ximing Yu, Hussain Al-Helal, Tapasya Patki, Jason Hansen, Maribel Hudson and Jonathan Sprinkle. "Using Integrative Models in an Advanced Heterogeneous System Simulation." In The 16th Annual International Conference and Workshop on the Engineering of Computer Based Systems, pp. 3-10, April, 2009.Tapasya Patki, Hussain Al-Helal, Jacob Gulotta, Jason Hansen and Jonathan Sprinkle. "Using Integrative Modeling for Advanced Heterogeneous System Simulation." In The 8th OOPSLA Workshop on Domain-Specific Modeling, pp. 80-85, October 19-20, 2008 This work is supported by the Air Force Office of Scientific Research, under award #FA9550-06-1-0267, titled Human Centric Design Environments for Command and Control Systems: The C2 Wind Tunnel

    GME was used to create create glue code for the project. Interactions were defined as well as all the required attributes as shown in the above model. A newer model is available in the repository with a Truck object added as well as other important interactions but since I could not log onto ransom I couldnt convert it to an EMF that is working. GME was used to create create glue code for the project. Interactions were defined as well as all the required attributes as shown in the above model. A newer model is available in the repository with a Truck object added as well as other important interactions but since I could not log onto ransom I couldnt convert it to an EMF that is working.