Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee...
-
date post
21-Dec-2015 -
Category
Documents
-
view
217 -
download
0
Transcript of Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee...
![Page 1: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/1.jpg)
Softwalls: Preventing Aircraft from Entering Unauthorized Airspace
Adam CataldoProf. Edward LeeProf. Ian Mitchell, UBCProf. Shankar Sastry
NASA JUPSep 26, 2003Los Angeles, CA
![Page 2: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/2.jpg)
Outline
• Introduction to Softwalls • Objections• Control system progress• Future challenges• Conclusions
![Page 3: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/3.jpg)
Introduction
• On-board database with “no-fly-zones”• Enforce no-fly zones using on-board
avionics• Non-networked, non-hackable
![Page 4: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/4.jpg)
Autonomous control
Pilot
Aircraft
Autonomouscontroller
![Page 5: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/5.jpg)
Softwalls is not autonomous control
Pilot
Aircraft
Softwalls
+
bias pilotcontrol
![Page 6: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/6.jpg)
Relation to Unmanned Aircraft
• Not an unmanned strategy– pilot authority
• Collision avoidance
![Page 7: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/7.jpg)
A deadly weapon?
• Project started September 11, 2001
![Page 8: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/8.jpg)
Design Objectives
Maximize Pilot Authority!
![Page 9: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/9.jpg)
Unsaturated Control
No-flyzone
Control applied
Pilot lets off controls
Pilot turns away from no-fly zone
Pilot tries to fly into no-fly
zone
![Page 10: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/10.jpg)
Objections
• Reducing pilot control is dangerous– reduces ability to respond to emergencies
![Page 11: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/11.jpg)
There is No Emergency That Justifies Landing Here
![Page 12: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/12.jpg)
Objections
• Reducing pilot control is dangerous– reduces ability to respond to emergencies
• There is no override– switch in the cockpit
![Page 13: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/13.jpg)
Hardwall
![Page 14: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/14.jpg)
Objections
• Reducing pilot control is dangerous– reduces ability to respond to emergencies
• There is no override– switch in the cockpit
• Localization technology could fail– GPS can be jammed
![Page 15: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/15.jpg)
Localization Backup
• Inertial navigation• Integrator drift
limits accuracy range
![Page 16: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/16.jpg)
Objections
• Reducing pilot control is dangerous– reduces ability to respond to emergencies
• There is no override– switch in the cockpit
• Localization technology could fail– GPS can be jammed
• Deployment could be costly– Software certification? Retrofit older
aircraft?
![Page 17: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/17.jpg)
Deployment
• Fly-by-wire aircraft– a software change
• Older aircraft– autopilot level
• Phase in– prioritize airports
![Page 18: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/18.jpg)
Objections
• Reducing pilot control is dangerous– reduces ability to respond to emergencies
• There is no override– switch in the cockpit
• Localization technology could fail– GPS can be jammed
• Deployment could be costly– how to retrofit older aircraft?
• Complexity– software certification
![Page 19: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/19.jpg)
Not Like Air Traffic Control
• Much Simpler• No need for
air traffic controller certification
![Page 20: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/20.jpg)
Objections
• Reducing pilot control is dangerous– reduces ability to respond to emergencies
• There is no override– switch in the cockpit
• Localization technology could fail– GPS can be jammed
• Deployment could be costly– how to retrofit older aircraft?
• Deployment could take too long– software certification
• Fully automatic flight control is possible– throw a switch on the ground, take over plane
![Page 21: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/21.jpg)
Potential Problems with Ground Control
• Human-in-the-loop delay on the ground– authorization for takeover– delay recognizing the threat
• Security problem on the ground– hijacking from the ground?– takeover of entire fleet at once?– coup d’etat?
• Requires radio communication– hackable– jammable
![Page 22: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/22.jpg)
Here’s How It Works
![Page 23: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/23.jpg)
Reachable Set
starting at a pointin the state space
set of all points reachable with some control input
reachable set
![Page 24: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/24.jpg)
Backwards Reachable Set
given a final pointin the state space
set of all states that can reach the final point for some control input
backwards reachable set
![Page 25: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/25.jpg)
Backwards Reachable Set
No-fly zone
Backwards reachable set
Safe States
States that canreach the no-flyzone when control is appliedCan prevent aircraft from
entering no-fly zone
![Page 26: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/26.jpg)
Implicit Surface Functions
No-fly zone
implicit surface functionfor no-fly zone
Backwards Reachable Set
implicit surface functionfor backwards reachable set
![Page 27: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/27.jpg)
Analytic Solution
• Hamilton-Jacobi-Isaacs PDE
no-fly zone implicit surface function
dynamics
backwards reachable set implicit surface function
• Tomlin, Lygeros, Sastry
v
![Page 28: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/28.jpg)
Control from Implicit Surface Function
BackwardsReachable
Set
Safe States Safe States
Control atboundary
Control decreases
to zero
![Page 29: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/29.jpg)
Numerical Solution
• Mitchell
states
1 2 3 4
computations&
storage
![Page 30: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/30.jpg)
Assumptions for Verification
• The pilot and control inputs could be any bounded, measurable functions
![Page 31: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/31.jpg)
In Fly-By-Wire Aircraft
• The pilot and control inputs will be piecewise constant, bounded functions which can change only every T milliseconds
T
![Page 32: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/32.jpg)
Fly-By-Wire Aircraft
• How do we verify this?
![Page 33: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/33.jpg)
In the News
• ABC News• NPR Market Place• CBC As It Happens• Slashdot• Reuters…
![Page 34: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/34.jpg)
Conclusions
• Embedded control system challenge
• Control theory identified
• Future challenges identified
![Page 35: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/35.jpg)
Acknowledgements
• Xiaojun Liu• Steve Neuendorffer• Claire Tomlin
![Page 36: Softwalls: Preventing Aircraft from Entering Unauthorized Airspace Adam Cataldo Prof. Edward Lee Prof. Ian Mitchell, UBC Prof. Shankar Sastry NASA JUP.](https://reader036.fdocuments.in/reader036/viewer/2022062407/56649d635503460f94a463e7/html5/thumbnails/36.jpg)
Backup
• Discrete-Time Modified HJI PDE
)()0,(
)1),),(,((minmax
),1,(min),(
*
*
][
*
*
ylyJ
keeygJ
kyJkyJ
DeUD