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Receive Message Translated Message Logic Transmitted Message Translated Message Communication Module Communication Module Control Logic Each Vehicle Has a Communication Port Receives Binary and Converts it To a Message Takes Transmitted Message and Converts it To Binary

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Presentation Transcript
slide1

Receive Message

Translated Message

Logic

Transmitted Message

Translated Message

Communication Module

Communication Module

Control Logic

  • Each Vehicle Has a Communication Port
    • Receives Binary and Converts it To a Message
    • Takes Transmitted Message and Converts it To Binary
  • Logic Takes Actions or Produces Outgoing Message Based off The Incoming Messages
communication

Message Out Binary

Outgoing binary message

Adds time delay: transmission and delivery

Induces error

Takes binary message from transmitting vehicle and puts it into the inbox for the other vehicle

ALWSE Communication Module

Message In Binary

Incoming binary message

Vehicle Received Script

Converts the binary number into message that the logic understands

Message In

Message

Vehicle Logic

Processes message and makes appropriate actions or outgoing messages

Message Out

Outgoing message

Vehicle Transmission

Converts outgoing message into binary

Communication
vehicle memory
Vehicle Memory
  • Each Vehicle Needs to Have a Memory
    • Extra Resources
    • Waypoint Pattern for All The Vehicle
    • Status of Each Vehicle and Where They Are in The Formation
    • Location and Types of Mines Found
  • This Does Not Make The Mission Dependent on One Vehicle
  • Allows any Vehicle to Become The Leader
terminology

Leader

Follower

Swimmer 2

Swimmer 3

Terminology
vehicle logic

Get Vehicle ID and Initial Task, (From TC)

Leader Logic

Swimmer Logic

Follower Logic

Then

Vehicle Logic
  • Each Vehicle has a Vehicle id and a Vehicle #.
    • The Vehicle # is The Serial # for the Vehicle and Stays Constant
    • The Vehicle id Signifies What Logic Scheme The Vehicle Uses
    • When a Vehicle Replaces Another, The Vehicle id Changes.
  • Assuming Initial Task and Vehicle id is Given by the TC
  • All the Vehicles have The Same Logic
vehicle logic6

Start on Initial Task

Continue on Path:

(Speed, Heading)

Received Message

Check Inbox

Communication Port

Swimmer 2 Disabled and NFV

Swimmer 3 Disabled and NFV

If Swimmer 2 Disabled

If Swimmer 3 Disabled

Replace Swimmer 2 Module

Replace Swimmer 3 Module

Reconfigure for Swimmer 2

Reconfigure for Swimmer 3

XXX

Transmitted Message

Send Message on Status

Communication Port

If

At last Waypoint

Then

Stop Vehicle

Else

Vehicle Logic
  • Vehicle Goes To Different Module Depending on What Messages are in The Inbox
  • Loops Around Each Time
slide8

Enter From Leader Logic

If

Swimmer 2 Disabled

Then

Replace Swimmer 2 with Follower

Transmitted Message

Communication Port

Send Message to Follower

Write to Vehicle Memory NFV

Return to Leader Logic

Start on Initial Task

Continue on Path:

(Speed, Heading)

Received Message

Check Inbox

Communication Port

Swimmer 2 Disabled and NFV

Swimmer 3 Disabled and NFV

If Swimmer 2 Disabled

If Swimmer 3 Disabled

Replace Swimmer 2 Module

Replace Swimmer 3 Module

Reconfigure for Swimmer 2

Reconfigure for Swimmer 3

XXX

Transmitted Message

Send Message on Status

Communication Port

If

At last Waypoint

Then

Stop Vehicle

Else

Leader

Replace Swimmer 3 Module

follower logic

Enter From Follower Logic

If

To Swimmer Logic

Message is RV2

Then

Replace Swimmer 2 with Follower

Change Vehicle#_id to Swimmer 2

Start on Initial Task

Continue on Path

(Speed, Heading)

Received Message

Communication Port

Check Inbox

Message is RV2

Message is RV3

Message is LDD

XXX

XXX

XXX

Replace Swimmer 2 Module

Replace Swimmer 3 Module

Replace Leader Module

XXX

XXX

XXX

If

At Last Waypoint

Then

Stop Vehicle

Else

Follower Logic

Follower

Replace Swimmer 3 Module

slide10

Enter From Leader Logic

If

Swimmer 2 Disabled and NFV

Then

Generate New Waypoint Path

Transmitted Message

Communication Port

Replace Swimmer 2 with Swimmer 3

Send Message to Swimmers

Return to Leader Logic

Start on Initial Task

Continue on Path:

(Speed, Heading)

Received Message

Check Inbox

Communication Port

Swimmer 2 Disabled and NFV

Swimmer 3 Disabled and NFV

If Swimmer 2 Disabled

If Swimmer 3 Disabled

Replace Swimmer 2 Module

Replace Swimmer 3 Module

Reconfigure for Swimmer 2

Reconfigure for Swimmer 3

XXX

Transmitted Message

Send Message on Status

Communication Port

If

At last Waypoint

Then

Stop Vehicle

Else

Leader

Reconfigure For Swimmer 2

slide11

Enter From Swimmer Logic

If

Message is RC2

If

To Swimmer 2 Logic

Vehicle Rank is 3

Else

Return to Swimmer Logic

Then

Change Vehicle#_id to Swm2

Generate New Waypoint Path

Start on Initial Task

Continue on Path

(Speed, Heading)

Determine Vehicle Rank

Received Message

Communication Port

Check Inbox

Message is LDD

Message is RC2

Message is RC3

Message is RV2 or RV3

XXX

XXX

Replace Leader Module

Reconf for Swimmer 2 Module

Reconf for Swimmer 3 Module

Replace Vehicle Module

XXX

XXX

Transmitted Message

Send Message to Leader on Status

Communication Port

If

At Last Waypoint

Then

Stop Vehicle

Else

Swimmer 3

Reconfigure For Swimmer 2