LAHAV Division Conceptual Modeling and Simulation of Autonomous

LAHAV Division Conceptual Modeling and Simulation of Autonomous Ground Systems Amira Sharon IAI, Israeli Aerospace Industries Israel sharon@iai. co. il Sergey Bolshchikov Technion, Israel Institute of Technology Haifa 32000 sergey@bolshchikov. net Aharon Renick Technion, Israel Institute of Technology Haifa 32000 adrenick@gmail. com Dov Dori Technion, Israel Institute of Technology Haifa 32000, Israel, and Massachusetts Institute of Technology, Cambridge, MA dori@mit. edu בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 1

Joint LAHAV-Technion Research Project LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 2

Joint LAHAV-Technion Research Project LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 3

Collaboration with the Faculty of Industrial Engineering and Management LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 4

Project Goals and Outputs • Advancing modeling and simulating methodology for autonomous systems by demonstrating modeling and simulating of a ground autonomous system conceptual design. • A simulated conceptual model of the autonomous system to support understanding and validating the complex relationships between the needs and the designed autonomous system solution. • a potential common language as means for improving communication and mutual understanding of the system-to-be (as a large number of stakeholders are involved in developing systems of this nature). LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 5

Six leading MBSE methodologies (INCOSE Task, Estefan, 2008 p 43) • IBM Telelogic Harmony-SE • INCOSE Object-Oriented Systems Engineering Method (OOSEM) • IBM Rational Unified Process for Systems Engineering (RUP SE) for Model-Driven Systems Development (MDSD) • Vitech Model-Based System Engineering (MBSE) Methodology • JPL State Analysis (SA) • Object-Process Methodology (OPM) Dov Dori, Object-Process Methodology - A Holistic Systems Paradigm, Springer Verlag, Berlin, Heidelberg, New York, 2002 (ISBN 3 -540 -65471 -2; Foreword by Edward Crawley. Hard cover, 453 pages, with CD-ROM). LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 6

OPM as a basis for CMSAS Conceptual Modeling and Simulation of Autonomous Systems What is OPM? OPM is a holistic approach to the study and development of systems OPM unifies the system’s structure and behavior within a single frame of reference, using a relatively small vocabulary Designed for systems engineering from the outset LAHAV Division 7 בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 7

The Key to OPM: Telling processes from objects and modeling them concurrently conceived reality modeled reality Object Is modeled by is a Vehicle Aircraft is a Is modeled by Car Bus ts c ffe Energy a Is modeled by Gas Filling Replenishing is Process The model expresses real things – objects and processes – and relations בלמס among them. LAHAV Division This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 8

OPM Object Process Methodology Connected using Procedural Links Objects are required by Processes Connected using Structural Links LAHAV Division Processes yield Objects or change their states Connected using Structural Links בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 9

Demonstration Case Study The demonstration case study is TALOS, an EU 7 th Framework Program project, whose objective is to develop and field-test a mobile, modular, scalable, autonomous and adaptive border protection system. TALOS – Transportable Autonomous patrol for Land b. Order Surveillance system Within FP 7 EU programs בלמס LAHAV Division This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 10

TALOS – Transportable Autonomous patrol for Land b. Order Surveillance system Within FP 7 EU programs EU 7 th Framework Programme (Priority: Security) Category – Integrated Project (IP) Budget – 20 mln Euro EC contribution – 13 mln Euro Duration: 2008 – 2012 Objective – develop and field test the innovative concept of a mobile, modular, scalable, autonomous and adaptive system for borders protection Result – technology demonstrator LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 11

TALOS Architecture Wi. MAX comm UAV Headquarter UGV OCUs PATROLER Flying-Cam's Ground Control Station LAHAV Division Control Trailer INTERCEPTOR 7 KM בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 12

Routine Behavior UAV Headquarters UGV PATROL Array Of Sensors Field Control Trailer section A Field Control Trailer Section B Network Communication USV PATROL LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 13

Intruder Scenario INTRUDER LAHAV Division INTERCEPTOR UGV בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 14

Neutralization of Explosive Charge INTRUDER LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 15

Back to OPM Object Process Methodology Connected using Procedural Links Objects are required by Processes Connected using Structural Links LAHAV Division Processes yield Objects or change their states Connected using Structural Links בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 16

System Diagram (SD) OPL LAHAV Division OPD בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 17

Hierarchical Consistent Model LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 18

SD 1 – Border Observing & Intercepting LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 19

SD 1. 1 – Mission Executing LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 20

SD 1. 1. 1 – Intercepting LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 21

SD 1. 1. 1 – Interception Executing LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 22

SD 1. 1 – Interception Procedure Executing LAHAV Division בלמס Chemical, biological, radiological, and nuclear This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 23

Unfold Views LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 24

Unfold Views LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 25

Testing View 1 LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 26

Testing View 2 LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 27

Testing View 3 Strategic Mission Plan LAHAV Division Strategic Mission Planning UGV Deploying בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 28

Testing View 4 Strategic Mission Planning Platform Mission Planning & Triggering store d deploy ed LAHAV Division בלמס This document contains proprietary information of Israel Aerospace Industries Ltd. and may not be reproduced, copied, disclosed or utilized in any way in whole or in part, without the prior written consent of Israel Aerospace Industries Ltd 29