COMP4DRONES - User contributions [en]

WP4-36

2023-03-03T11:44:20Z

IMCS: /* Autonomous Decision Making in Critical Situations */

=Autonomous Decision Making in Critical Situations =
{|class="wikitable"
| ID|| WP4-36
|-
| Contributor || IMCS
|-
| Levels || Function
|-
| Require || drone with on-board computer with ROS interface for Control
|-
| Provide || TBC
|-
| Input || from drone - Autopilot, GPS, Remote Control
|-
| Output || enumeration for Action if Critical Situation detected
|-
| C4D building block || TBC
|-
| TRL || 6
|}

== Motivation ==
* Monitoring of Critical Situations and actions on them must be safe for fully autonomous use, without a human in the loop.
* The above is not the case with most of today’s off-the-shelf drone platforms:
** Although typically drones do monitor some Critical Situations, such monitoring and reactions are designed for cases, where external remote control is available.
** As an example, on detecting a Critical Situation “Remote Control lost”, typically off-the-shelf drones implement reactions Land, Return Home, and Hover. Neither of these options allow to productively continue the mission, which is unacceptable for applications requiring fully autonomous operation.
* The component WP4-36 implements the capability of fully autonomous decision making and execution in situations, where remote control is not available.

== Overview ==
* WP4-36 augments drone’s native critical situation handling, thus adding the ability to safely operate in a fully autonomous mode.
* WP4-36 supports operation in the “Human In the Loop” mode, with a Remote Control
* WP4-36 implements:
** additional Critical Situation Monitors
** additional Actions on Critical Situations
** additional configuration mechanism supporting two operation profiles:
*** for externally controlled flight with the Remote Control active
*** for autonomous flight without Remote Control
* WP4-36 enables adaptation of existing drone equipment to changing requirements. Enhancements are easily deployable by means of a software update
* Running as a dedicated ROS node.
[[File:WP4-36_Overview_600.jpg|frame|center|Computer Vision Component in the application scenario]]

== Testing ==
* Drone with Autopilot, Sensors, and Cameras
* Remote Control with a computer running GUI and manual pilot application
* Onboard computer on the drone, running Drone control API
* Simulation computer running “DJI Assistant” application, used for fault injection
* Simulation computer with Matlab Simulink environment, running Mission Control and WP4 components
* Simulation computer with Matlab Simulink environment, running Mission scenario component

<gallery widths=600px heights=470px perrow=2>
File:WP4-36_Testing_1_600.png
File:WP4-36_Testing_2_600.png
</gallery>

WP4-37

2023-03-03T11:40:16Z

IMCS: /* Algorithms for Runtime Safety Monitoring */

=Algorithms for Runtime Safety Monitoring =
{|class="wikitable"
| ID|| WP4-37
|-
| Contributor || IMCS
|-
| Levels || Function
|-
| Require ||
* drone with on-board computer with ROS interface for Control
* Control application in ROS
|-
| Provide || TBC
|-
| Input || from drone - Autopilot, GPS, RC
|-
| Output ||
* reference state # to Control application
* Action issued in Control application
|-
| C4D building block || TBC
|-
| TRL || 6
|}

== Motivation ==
* Testing of the Mission Control software is a challenging task, as it implements a state machine of high complexity.
* The most critical errors are ones that cause deviations from the normal state flow during operation. These errors may result in gross violations of drone’s normal behavior patterns, up to deadlocks and complete loss of control.
* There is a lot of evidence from field that errors of this class happen regularly. As an example, such an incident happened in Latvia in May 2020, when a drone with a flight range of more than 100 km went unresponsive during a test flight and was lost for several days.
* Errors caused by race conditions manifesting in narrow time windows, or by transient external factors applied when in specific states, are among the ones that are most difficult to simulate and discover by testing during the development process.
* Safety of operations can be improved by runtime verification, which is achieved by adding mechanisms to the device that monitor its behavior during the mission, detect errors post-factum, and apply corrective actions.
* Runtime verification can bring substantial safety enhancements in a cost-effective way.
* The component WP4-37 implements the aforementioned runtime verification capability.
[[File:WP4-37_Motivation_600.png|frame|center]]

== Overview ==

* Implements monitoring of Mission Control states during operation, detects critical deviations, and applies corrective actions.
* Misbehavior detection is achieved by means of executing a parallel reference model in real time, in the component WP4-37, and comparing the internal states of the actual Mission control component with those of the reference model
* The reference model is a simplified alternative realization of the full Mission control behavior
** It is trusted thanks to its relative simplicity, which makes comprehensive testing feasible
** It allows to reliably detect critical deviations from the full behavior model
* Component WP4-37 consists of two parts:
** The simplified Mission control reference model running as a dedicated ROS node
** State deviation detection and correction module integrated into the Mission control component under monitoring
* The part of WP4-37 running in the ROS node is application-independent. The State deviation detection and correction module serves as an adaptation layer, which is specific to each implementation of the Mission control component.
[[File:WP4-37_Overview_600.png|frame|center]]

== Testing ==
* Drone with Autopilot, Sensors, and Cameras
* Remote Control with a computer running GUI and manual pilot application
* Onboard computer on the drone, running Drone control API
* Simulation computer running “DJI Assistant” application, used for fault injection
* Simulation computer with Matlab Simulink environment, running Mission Control and WP4 components
* Simulation computer with Matlab Simulink environment, running Mission scenario component

<gallery widths=600px heights=470px perrow=2>
File:WP4-36_Testing_1_600.png
File:WP4-36_Testing_2_600.png
</gallery>

File:WP4-37 Testing 2 600.png

2023-03-02T16:55:51Z

IMCS:

File:WP4-36 Testing 2 600.png

2023-03-02T16:43:36Z

IMCS:

File:WP4-36 Testing 1 600.png

2023-03-02T16:42:37Z

IMCS:

File:WP4-37 Overview 600.png

2023-03-02T16:23:55Z

IMCS:

File:WP4-37 Motivation 600.png

2023-03-02T15:56:22Z

IMCS:

File:WP4-36 Overview 600.jpg

2023-03-02T14:20:55Z

IMCS:

WP4-37

2022-10-16T09:03:10Z

IMCS: /* Algorithms for Runtime Safety Monitoring */

WP4-37

2022-10-16T08:04:10Z

IMCS: /* Algorithms for Runtime Safety Monitoring */

=Algorithms for Runtime Safety Monitoring =
{|class="wikitable"
| ID|| WP4-37
|-
| Contributor || IMCS
|-
| Levels || Function
|-
| Require || drone with on-board computer with ROS interface for Control,
Control application in ROS
|-
| Provide || TBC
|-
| Input || from drone - Autopilot, GPS, RC
|-
| Output || reference state # to Control application,
Action issued in Control application
|-
| C4D building block || TBC
|-
| TRL || 6
|}

==Detailed Description==

TBC

==Specifications and contribution==

TBC

==Design and Implementation==

TBC

==Reference==

TBC

WP4-36

2022-10-16T07:51:42Z

IMCS: /* Autonomous Decision Making in Critical Situations */

WP4-37

2022-09-30T15:11:34Z

IMCS: Created page with "=Algorithms for Runtime Safety Monitoring = {|class="wikitable" | ID|| WP4-37 |- | Contributor || IMCS |- | Levels || Function |- | Require || TBC |- | Provide || TBC |- | Input || TBC |- | Output || TBC |- | C4D building block || TBC |- | TRL || TBC |} ==Detailed Description== TBC ==Specifications and contribution== TBC ==Design and Implementation== TBC ==Reference== TBC"

=Algorithms for Runtime Safety Monitoring =
{|class="wikitable"
| ID|| WP4-37
|-
| Contributor || IMCS
|-
| Levels || Function
|-
| Require || TBC
|-
| Provide || TBC
|-
| Input || TBC
|-
| Output || TBC
|-
| C4D building block || TBC
|-
| TRL || TBC
|}

==Detailed Description==

TBC

==Specifications and contribution==

TBC

==Design and Implementation==

TBC

==Reference==

TBC

WP4-36

2022-09-30T15:08:14Z

IMCS: Created page with "=Autonomous Decision Making in Critical Situations = {|class="wikitable" | ID|| WP4-36 |- | Contributor || IMCS |- | Levels || Function |- | Require || TBC |- | Provide || TBC |- | Input || TBC |- | Output || TBC |- | C4D building block || TBC |- | TRL || TBC |} ==Detailed Description== TBC ==Specifications and contribution== TBC ==Design and Implementation== TBC ==Reference== TBC"

=Autonomous Decision Making in Critical Situations =
{|class="wikitable"
| ID|| WP4-36
|-
| Contributor || IMCS
|-
| Levels || Function
|-
| Require || TBC
|-
| Provide || TBC
|-
| Input || TBC
|-
| Output || TBC
|-
| C4D building block || TBC
|-
| TRL || TBC
|}

==Detailed Description==

TBC

==Specifications and contribution==

TBC

==Design and Implementation==

TBC

==Reference==

TBC

Component repository

2022-09-23T08:58:21Z

IMCS:

This repository aims at providing common components usable in different application domains, in particular those covered by project use-cases.

The requirements for using a components will be listed, as well as a documentation on how to use it. The component itself will be hosted by the partner who provides it.

==Components list==

{| class="wikitable"
|ID
|Contributor
|Title
|-
|[[WP3-01]]
|IKERLAN
|Safety function - Pre-Certified SOM
|-
|[[WP3-02]]
|EDI
|Modular SoC-based embedded reference architecture
|-
|[[WP3-03]]
|BUT
|Sensor information algorithms
|-
|[[WP3-04]]
|HIB
|Computer Vision Components for drones
|-
|[[WP3-10]]
|IFAT
|Component for trusted communication
|-
|[[WP3-13]]
|ENAC
|Paparazzi UAV
|-
|[[WP3-14_1]]
|ENSMA
|Collision avoidance and geo-fencing
|-
|[[WP3-14_2]]
|ENSMA
|Distributed control of multi-drone system
|-
|[[WP3-15_1]]
|ACORDE
|UWB based indoor positioning
|-
|[[WP3-15_2]]
|ACORDE
|Multi-antenna GNSS/INS based navigation
|-
|[[WP3-16]]
|SCALIAN
|EZ_Chains Fleet Architecture
|-
|[[WP3-19_1]]
|IMEC
|Hyperspectral payload
|-
|[[WP3-19_2]]
|IMEC
|Hyperspectral image processing
|-
|[[WP3-20]]
|MODIS
|Multi-sensor positioning
|-
|[[WP3-22]]
|UNIMORE
|Onboard Compute Platform Desing Methodology
|-
|[[WP3-24]]
|UNIVAQ
|Efficient digital implementation of controllers
|-
|[[WP3-26]]
|UWB
|Droneport: an autonomous drone battery management system
|-
|[[WP3-28]]
|UNISS
|Accelerator Design Methodology for OOCP
|-
|[[WP3-36_1]]
|UDANET
|Smart and predictive energy management system
|-
|[[WP3-36_2]]
|UDANET
|AI drone system modules
|-
|[[WP3-37]]
|Aitek
|Video and data analytics
|-
|[[WP4-2]]
|SCALIAN
|EZ_Land Precision landing
|-
|[[WP4-5]]
|SCALIAN
|AI detection for clearance
|-
|[[WP4-10]]
|ALM
|Cooperative Planner
|-
|[[WP4-14]]
|ALM
|Map Enhancement Service
|-
|[[WP4-15]]
|ALM
|Visual Analytics
|-
|[[WP4-16]]
|ACORDE
|Enhanced Navigation Software
|-
|[[WP4-17]]
|ACORDE
|Anchor&Tag firmware of the Indoor Positioning System
|-
|[[WP4-18_A]]
|TEKNE
|Drone-Rover Transponder
|-
|[[WP4-20]]
|ALM
|Attractor-based Navigation
|-
|[[WP4-22]]
|ALM
|Shared Reference Frame
|-
|[[WP4-32]]
|SHERPA
|Dynamic control development for navigation and precision landing
|-
|[[WP4-33]]
|UNIVAQ
|Autonomy, cooperation, and awareness
|-
|[[WP4-36]]
|IMCS
|Autonomous Decision Making in Critical Situations
|-
|[[WP4-37]]
|IMCS
|Algorithms for Runtime Safety Monitoring
|-
|[[WP4-39]]
|HIB
|Simulated data aggregator supporting intelligent decision in computer vision components
|-
|[[WP4-42]]
|SCALIAN
|AI Stabilization
|-
|[[WP5-03]]
|SCALIAN
|EZ_Com Safe fleet communication
|-
|[[WP5-09]]
|ABI
|Communication scheme for unified system management
|-
|[[WP5-05_A]]
|TEKNE
|LP-WAN for UAV identification and monitoring
|-
|[[WP5-11_ACO]]
|ACORDE
|Navigation system with anti-jamming and anti-spoofing features
|-
|[[WP5-16-AIT]]
|AIT
|Cryptographic algorithms adapted for drones
|-
|[[WP5-19_ACO]]
|ACORDE
|Robust communication for an improved Indoor Positioning System
|-
|[[WP6-P4R]]
|CEA
|Model driven engineering
|-
|[[WP6-ESDE]]
|ACORDE
|ESL embedded SW Design Environment (ESDE)
|-
|[[WP6-IPS-MAF]]
|ACORDE
|Indoor Positioning System Modelling&Analysis Framework (IPS-MAF)
|-
|[[WP6-17]]
|UNIVAQ
|HW/SW CO-DEsign of HEterogeneous Parallel dedicated Systems (HEPSYCODE)
|-
|[[WP6-34]]
|UNIVAQ
|HEPSYCODE SystemC SIMulator Version 2.0 (HEPSIM2)
|}

Component repository

2022-09-23T08:56:15Z

IMCS:

This repository aims at providing common components usable in different application domains, in particular those covered by project use-cases.

The requirements for using a components will be listed, as well as a documentation on how to use it. The component itself will be hosted by the partner who provides it.

==Components list==

{| class="wikitable"
|ID
|Contributor
|Title
|-
|[[WP3-01]]
|IKERLAN
|Safety function - Pre-Certified SOM
|-
|[[WP3-02]]
|EDI
|Modular SoC-based embedded reference architecture
|-
|[[WP3-03]]
|BUT
|Sensor information algorithms
|-
|[[WP3-04]]
|HIB
|Computer Vision Components for drones
|-
|[[WP3-10]]
|IFAT
|Component for trusted communication
|-
|[[WP3-13]]
|ENAC
|Paparazzi UAV
|-
|[[WP3-14_1]]
|ENSMA
|Collision avoidance and geo-fencing
|-
|[[WP3-14_2]]
|ENSMA
|Distributed control of multi-drone system
|-
|[[WP3-15_1]]
|ACORDE
|UWB based indoor positioning
|-
|[[WP3-15_2]]
|ACORDE
|Multi-antenna GNSS/INS based navigation
|-
|[[WP3-16]]
|SCALIAN
|EZ_Chains Fleet Architecture
|-
|[[WP3-19_1]]
|IMEC
|Hyperspectral payload
|-
|[[WP3-19_2]]
|IMEC
|Hyperspectral image processing
|-
|[[WP3-20]]
|MODIS
|Multi-sensor positioning
|-
|[[WP3-22]]
|UNIMORE
|Onboard Compute Platform Desing Methodology
|-
|[[WP3-24]]
|UNIVAQ
|Efficient digital implementation of controllers
|-
|[[WP3-26]]
|UWB
|Droneport: an autonomous drone battery management system
|-
|[[WP3-28]]
|UNISS
|Accelerator Design Methodology for OOCP
|-
|[[WP3-36_1]]
|UDANET
|Smart and predictive energy management system
|-
|[[WP3-36_2]]
|UDANET
|AI drone system modules
|-
|[[WP3-37]]
|Aitek
|Video and data analytics
|-
|[[WP4-2]]
|SCALIAN
|EZ_Land Precision landing
|-
|[[WP4-5]]
|SCALIAN
|AI detection for clearance
|-
|[[WP4-10]]
|ALM
|Cooperative Planner
|-
|[[WP4-14]]
|ALM
|Map Enhancement Service
|-
|[[WP4-15]]
|ALM
|Visual Analytics
|-
|[[WP4-16]]
|ACORDE
|Enhanced Navigation Software
|-
|[[WP4-17]]
|ACORDE
|Anchor&Tag firmware of the Indoor Positioning System
|-
|[[WP4-18_A]]
|TEKNE
|Drone-Rover Transponder
|-
|[[WP4-20]]
|ALM
|Attractor-based Navigation
|-
|[[WP4-22]]
|ALM
|Shared Reference Frame
|-
|[[WP4-32]]
|SHERPA
|Dynamic control development for navigation and precision landing
|-
|[[WP4-33]]
|UNIVAQ
|Autonomy, cooperation, and awareness
|-
|[[WP4-36]]
|IMCS
|Autonomous Decision Making in Critical Situations
|-
|[[WP4-39]]
|HIB
|Simulated data aggregator supporting intelligent decision in computer vision components
|-
|[[WP4-42]]
|SCALIAN
|AI Stabilization
|-
|[[WP5-03]]
|SCALIAN
|EZ_Com Safe fleet communication
|-
|[[WP5-09]]
|ABI
|Communication scheme for unified system management
|-
|[[WP5-05_A]]
|TEKNE
|LP-WAN for UAV identification and monitoring
|-
|[[WP5-11_ACO]]
|ACORDE
|Navigation system with anti-jamming and anti-spoofing features
|-
|[[WP5-16-AIT]]
|AIT
|Cryptographic algorithms adapted for drones
|-
|[[WP5-19_ACO]]
|ACORDE
|Robust communication for an improved Indoor Positioning System
|-
|[[WP6-P4R]]
|CEA
|Model driven engineering
|-
|[[WP6-ESDE]]
|ACORDE
|ESL embedded SW Design Environment (ESDE)
|-
|[[WP6-IPS-MAF]]
|ACORDE
|Indoor Positioning System Modelling&Analysis Framework (IPS-MAF)
|-
|[[WP6-17]]
|UNIVAQ
|HW/SW CO-DEsign of HEterogeneous Parallel dedicated Systems (HEPSYCODE)
|-
|[[WP6-34]]
|UNIVAQ
|HEPSYCODE SystemC SIMulator Version 2.0 (HEPSIM2)
|}