1. CPSC 875 John D. McGregor Feedback Control Loop architecture Class 6

2. Analog thermostat Metal coil changes shape as temperature changes This tilts a vial of mercury to make contact

3. Digital thermostat A thermistor is a resistor with variable resistance depending on the temperature Uses less power, more sensitive Flow of electricity turns on heat

4. Cyber-physical systems Physical and cyber systems come together Continuous vs discrete Continuous is simulated by periodic sampling and approximations

5. Feedback loop Process Control actuators sensors set point disturbance

6. Cruise control Engine Make decision throttle speedometer Set speed Friction, momentum, wind,…

7. Overrun/underrun Push on throttle to accelerate Ease of throttle does not lead to immediate slow down depending upon the slope of the road and weight and friction Likewise, applying brakes may slow us down more than anticipated

8. Feedforward control Process Control actuators sensors Set point Feedforward disturbance

9. feedforward Uses information that seems to obviously point to a decision Autonomous vehicle approaches another vehicle from the rear The fact that the vehicle is getting closer says “slow down” That is fedforward to the actuators while the main feedback loop determines how much to slow down

10. Adaptive cruise control engines Control engine Throttle/brake Speedometer/radar Set point Feedforward disturbance

11. Architecture refinement engines Control engine Throttle/brake Speedometer/radar Set point fusion Merge planner Merge planner Lane selector Lane selector Distance keeper https://www.ri.cmu.edu/pub_files/2009/6/IV09_Final.pdf Feedforward disturbance

12. Model structure Look at the isolette model Modules - combined nominal and error Cross-module - data definitions, properties

13. Isolette An isolette is a “box” into which a newborn baby is placed when it needs a controlled temperature. The nurse sets the desired temperature. The box turns on a heater if the temperature is below that value otherwise it does nothing. Periodically a sensor measures the temperature in the isolette and feeds that to the controller. The controller turns on the heat, turns off the heat, or does nothing as is appropriate. https://wiki.sei.cmu.edu/aadl/index.php/Isolette_ex ample

14. Properties property set Iso_Properties is with Isolette, --AADL components that use the properties herein Physical_Properties, --AADL property types EMV2, --error modeling annex V2 predeclared properties Timing_Properties; Initialization_Timeout : Timing_Properties::Time => 1 sec applies to (all); InterfaceFailureRate : constant EMV2::DistributionSpecification => [ProbabilityValue => 1.0E-7; Distribution => Fixed;];

15. Error annex device detect_regulator_failure features internal_failure : out data port Base_Types::Boolean; annex EMV2 {** use types ErrorLibrary; use behavior isolette::FailStop; error propagations internal_failure: out propagation {ServiceOmission}; flows --model error in detection and reporting inf: error source internal_failure{ServiceOmission}; end propagations; properties --set occurrence of detection failure EMV2::OccurrenceDistribution => Iso_Properties::DetectionRegulatorFailureRate applies to inf; --set failure rate for regulator EMV2::OccurrenceDistribution => Iso_Properties::RegulatorFailureRate applies to fail; **};

16. Data definitions data monitor_mode properties Data_Model::Data_Representation => Enum; Data_Model::Enumerators => ("INIT","NORMAL","FAILED"); BLESS::Typed => "enumeration (INIT, NORMAL, FAILED)"; end monitor_mode;

17. Multiple Instances of multiple architectures Specification file Implementation files

18. Architecture refinement Start with high-level/abstract Add detail Extend existing definitions Iterative approach

19. Here’s what you are going to do Study the isolette example’s aadl model. Create an aadl model, using OSATE and following the structure we discussed in class, for a feedback control loop including nominal and error models. Think of it in the context of a connected vehicle. Zip your project and commit by 11:59PM Monday Feb 1 st.

20. Cooperating Adaptive Cruise Control http://ieeexplore.ieee.org/stamp/stamp.jsp?t p=&arnumber=981105 http://ieeexplore.ieee.org/stamp/stamp.jsp?t p=&arnumber=981105 http://www.cse.msu.edu/~chengb/RE- 491/Projects/cacc_msu-ford.pdf http://www.cse.msu.edu/~chengb/RE- 491/Projects/cacc_msu-ford.pdf http://www.tue.nl/universiteit/faculteiten/we rktuigbouwkunde/onderzoek/research- groups/dynamics-and- control/research/projects/cooperative- adaptive-cruise-control/ (a couple of good figures) http://www.tue.nl/universiteit/faculteiten/we rktuigbouwkunde/onderzoek/research- groups/dynamics-and- control/research/projects/cooperative- adaptive-cruise-control/

21. http://www.iteris.com/cvria/html/applications /app8.html http://www.iteris.com/cvria/html/applications /app8.html http://download.springer.com/static/pdf/387/ art%253A10.1007%252Fs11633-014-0760- 2.pdf?auth66=1422098902_3b080467d0747e f88af021c31ae8b1e9&ext=.pdf http://download.springer.com/static/pdf/387/ art%253A10.1007%252Fs11633-014-0760- 2.pdf?auth66=1422098902_3b080467d0747e f88af021c31ae8b1e9&ext=.pdf http://ieeexplore.ieee.org/stamp/stamp.jsp?t p=&arnumber=1336415 http://ieeexplore.ieee.org/stamp/stamp.jsp?t p=&arnumber=1336415