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Adaptive Real-Time Flight Management System Image courtesy: - - PowerPoint PPT Presentation

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07/2020 1 smARTflight : An Environmentally-Aware Adaptive Real-Time Flight Management System Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html Anam Farrukh Richard West 07/2020 2 Drones: Cyber-Physical

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SLIDE 1

07/2020 1

Anam Farrukh Richard West

smARTflight : An Environmentally-Aware

Adaptive Real-Time Flight Management System

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
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SLIDE 2

07/2020 2

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Drones: Cyber-Physical Systems

  • The technology that is fundamentally changing the way

we live.

Disinfection

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SLIDE 3

07/2020 3

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Drones: Cyber-Physical Systems

  • The technology that is fundamentally changing the way

we live.

Disinfection Remote Package Delivery

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SLIDE 4

07/2020 4

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Drones: Cyber-Physical Systems

  • The technology that is fundamentally changing the way

we live.

Disinfection Remote Package Delivery Monitoring & Patrolling

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SLIDE 5

07/2020 5

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Sensing

Drones: Cyber-Physical Systems

IMU

+ Mag

Barometer GPS Camera Sonar

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Sensing

Processing + Control Drones: Cyber-Physical Systems

IMU

+ Mag

Barometer GPS Camera Sonar

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SLIDE 7

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Sensing

Processing + Control

Actuatjon

Drones: Cyber-Physical Systems

IMU

+ Mag

Barometer GPS Camera Sonar

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SLIDE 8

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Sensing

Processing + Control

Actuatjon

Drones: Cyber-Physical Systems Flight Management System (Autopilot) Flight Management System (Autopilot)

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SLIDE 9

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Windy Conditions Adversely Afgect the Drone’s Flight Stability

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Attitude : 3D Orientation

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

State-of-Art Flight Management Systems: Problems

  • Have low reactivity & slow response times
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SLIDE 12

07/2020 12

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

State-of-Art Flight Management Systems: Problems

  • Have low reactivity & slow response times
  • Are highly sensitive to external environmental

dynamics leading to fjght inaccuracy and instability

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SLIDE 13

07/2020 13

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

State-of-Art Flight Management Systems: Problems

  • Have low reactivity & slow response times
  • Are highly sensitive to external environmental

dynamics leading to fjght inaccuracy and instability

  • Are unable to continue fmight & require emergency

landing

  • Manual override
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SLIDE 14

07/2020 14

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

State-of-Art Flight Management Systems: Problems

  • Have low reactivity & slow response times
  • Are highly sensitive to external environmental

dynamics leading to fjght inaccuracy and instability

  • Are unable to continue fmight & require emergency

landing

  • Manual override
  • Execute fmight control tasks at the maximum possible

frequencies all the time in adverse conditions!

  • Loosely “periodic” executions => soft time period bounds
  • Statically defjned
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SLIDE 15

07/2020 15

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Challenges

  • Lack of system adaptability to changes in environment
  • Lack of timing predictable behavior
  • Ineffjcient use of limited battery power
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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • Lack of system adaptability to changes in environment
  • Lack of timing predictable behavior
  • Ineffjcient use of limited battery power

smARTfmight Contributions to Challenges

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • Lack of system adaptability to changes in environment

Introduce criticality-awareness within the system Dynamic adaptation of execution rates of critical fmight controller tasks

  • Lack of timing predictable behavior
  • Ineffjcient use of limited battery power

smARTfmight Contributions to Challenges

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SLIDE 18

07/2020 18

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • Lack of system adaptability to changes in environment

Introduce criticality-awareness within the system Dynamic adaptation of execution rates of critical fmight controller tasks

  • Lack of timing predictable behavior
  • Ineffjcient use of limited battery power

smARTfmight Contributions to Challenges

Critjcality ≜ Measure of severity of the consequences to the system in case of unpredictable behavior

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SLIDE 19

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • Lack of system adaptability to changes in environment

Introduce criticality-awareness within the system Dynamic adaptation of execution rates of critical fmight controller tasks

  • Lack of timing predictable behavior
  • Ineffjcient use of limited battery power

smARTfmight Contributions to Challenges

Critjcality ≜ Measure of severity of the consequences to the system in case of unpredictable behavior

System Critjcality

≜ directly refmects

infmuence of environment on the system

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SLIDE 20

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • Lack of system adaptability to changes in environment

Introduce criticality-awareness within the system Dynamic adaptation of execution rates of critical fmight controller tasks

  • Lack of timing predictable behavior
  • Ineffjcient use of limited battery power

smARTfmight Contributions to Challenges

Critjcality ≜ Measure of severity of the consequences to the system in case of unpredictable behavior

Task Critjcality

≜ functjon of task’s

importance to maintenance of fmight. System Critjcality

≜ directly refmects

infmuence of environment on the system

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SLIDE 21

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • Lack of system adaptability to changes in environment

Introduce criticality-awareness within the system Dynamic adaptation of execution rates of critical fmight controller tasks

  • Lack of timing predictable behavior
  • Ineffjcient use of limited battery power

smARTfmight Contributions to Challenges

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SLIDE 22

07/2020 22

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • Lack of system adaptability to changes in environment

Introduce criticality-awareness within the system Dynamic adaptation of execution rates of critical fmight controller tasks

  • Lack of timing predictable behavior

Introduce real-time (RT) task execution constraints enforced by a real-time scheduler – deterministic fmight

  • Ineffjcient use of limited battery power

smARTfmight Contributions to Challenges

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SLIDE 23

07/2020 23

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Challenges

  • Lack of system adaptability to changes in environment

Introduce criticality-awareness within the system Dynamic adaptation of execution rates of critical fmight controller tasks

  • Lack of timing predictable behavior

Introduce real-time (RT) task execution constraints enforced by a real-time scheduler – deterministic fmight

  • Ineffjcient use of limited battery power

Low execution rates of tasks in stable fmying conditions

 smARTfmight Contributions

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SLIDE 24

07/2020 24

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilots

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SLIDE 25

07/2020 25

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilots

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SLIDE 26

07/2020 26

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilot Flight Control

Low-level attitude stabilization: classical linear feedback control loop

Target Thrust for Motors Current

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SLIDE 27

07/2020 27

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilot Flight Control

Low-level attitude stabilization: classical linear feedback control loop

Target Thrust for Motors Current

1

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07/2020 28

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilot Flight Control

Low-level attitude stabilization: classical linear feedback control loop

Target Thrust for Motors Current

2 1

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SLIDE 29

07/2020 29

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilot Flight Control

Low-level attitude stabilization: classical linear feedback control loop

Target Thrust for Motors Current

3 1 2

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SLIDE 30

07/2020 30

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilot Flight Control

Low-level attitude stabilization: classical linear feedback control loop

Target Thrust for Motors Current

4 1 2 3

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SLIDE 31

07/2020 31

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilot Flight Control

Low-level attitude stabilization: classical linear feedback control loop

Target Thrust for Motors Current

5 1 2 3 4

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SLIDE 32

07/2020 32

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilot Flight Control

Low-level attitude stabilization: classical linear feedback control loop

Target Thrust for Motors Current

1 3 4 5

Looptime

2

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

KEY Observation Flight Performance Rates of Execution

  • f

Critical Flight Controller Tasks

translates

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight Dual Criticality Semantics

  • System

Criticality HI LO

(Adverse) (Calm)

Dynamic

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SLIDE 35

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight Dual Criticality Semantics

  • System

Criticality HI LO

  • T

ask Criticality HI LO

(Adverse) (Calm)

Dynamic Static

(Flight Mission) (Bookkeeping)

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SLIDE 36

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Task Model smARTfmight Dual Criticality Semantics

  • System

Criticality HI LO

  • T

ask Criticality HI LO

Task Criticality Task Priority Deadlines Periods Budget

(Adverse) (Calm)

Dynamic Static

(Flight Mission) (Bookkeeping)

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Task Model smARTfmight Dual Criticality Semantics

  • System

Criticality HI LO

  • T

ask Criticality HI LO

Task Criticality Task Priority Deadlines Periods Budget

(Adverse) (Calm)

Dynamic Static

(Flight Mission) (Bookkeeping)

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SLIDE 38

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight Tasks HI

LO LO

Execution rates (default)

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SLIDE 39

07/2020 39

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight : System Mode Changes

  • System mode changes are asynchronous events
  • Triggers: attitude change with respect to Euler angle

thresholds

  • Attitude task registers the change and propagates the mode

change fmag to the scheduler

  • smARTfmight scheduler:

HI HI LO LO

≤ >

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SLIDE 40

07/2020 40

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight : System Mode Changes

  • System mode changes are asynchronous events
  • Triggers: attitude change with respect to Euler angle

thresholds

  • Attitude task registers the change and propagates the mode

change fmag to the scheduler

  • smARTfmight scheduler:

HI HI LO LO

≤ >

Threshold ≜ Maximum tolerable transient defmectjon from the target attjtude

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SLIDE 41

07/2020 41

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight : System Mode Changes

  • System mode changes are asynchronous events
  • Triggers: attitude change with respect to Euler angle

thresholds

  • Attitude task registers the change and propagates the mode

change fmag to the scheduler

  • smARTfmight scheduler:

HI HI LO LO

≤ >

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SLIDE 42

07/2020 42

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight: Schedulability Framework

  • RMS CF: no criticality semantics (standard RMS)
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smARTfmight: Schedulability Framework

  • RMS CF: no criticality semantics (standard RMS)
  • smARTfmight: extended and modifjed Liu & Layland’s

RMS algorithm

  • T

ask rates and priorities adapt

  • Ready queue updated @ runtime
  • Scheduler quantum reprogramming
  • Transient system overload checks to avoid failure
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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight : Experimental Setup

The Bird The BirdCage QAV250mm

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight : Experiment Type

Emulated Wind

smARTfmight

Step Attjtude Disturbance Attjtude Correctjon

HI LO

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SLIDE 46

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I II III

smARTfmight : Experimental Phases

Static Rate Response Times

Vanilla CF RMS CF smARTflight

Real-Time Scheduler Adaptive Real-Time + Criticality

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SLIDE 47

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

I II III

smARTfmight : Experimental Phases

Static Rate Response Times

Vanilla CF RMS CF smARTflight

Real-Time Scheduler Adaptive Real-Time + Criticality

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SLIDE 48

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Vanilla Result : 150 Roll-Left Response Times

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SLIDE 49

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

I II III

smARTfmight : Experimental Phases

Static Rate Response Times

Vanilla CF RMS CF smARTflight

Real-Time Scheduler Adaptive Real-Time + Criticality

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SLIDE 50

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

I II III

smARTfmight : Experimental Phases

Static Rate Response Times

Vanilla CF RMS CF smARTflight

Real-Time Scheduler Adaptive Real-Time + Criticality

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SLIDE 51

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

smARTfmight : Roll Thresholds

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SLIDE 52

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Comparison : 150 Roll-Left Response Time

smARTflight Threshold Tuning (target ± threshold)

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SLIDE 53

07/2020 53

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Comparison : 150 Roll-Left Response Time

smARTflight Threshold Tuning

Phase I: Vanilla Phase II: RMS Phase III: smARTflight

(target ± threshold)

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SLIDE 54

07/2020 54

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilot Comparison Results

Cumulative Absolute Error

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SLIDE 55

07/2020 55

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Autopilot Comparison Results

Cumulative Absolute Error

  • Avg. Duty-Cycle : Motor
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SLIDE 56

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Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Conclusions

  • smARTfmight: an environmentally aware, criticality

based Adaptive, Real-Time fmight management system for multi-copters

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SLIDE 57

07/2020 57

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • smARTfmight: an environmentally aware, criticality

based Adaptive, Real-Time fmight management system for multi-copters

  • T

ask and system criticality

  • Environmental triggers for system modes
  • Dynamic reconfjguration of task execution frequencies

Conclusions

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SLIDE 58

07/2020 58

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • smARTfmight: an environmentally aware, criticality

based Adaptive, Real-Time fmight management system for multi-copters

  • T

ask and system criticality

  • Environmental triggers for system modes
  • Dynamic reconfjguration of task execution frequencies
  • Modifjed rate monotonic scheduling framework

Conclusions

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SLIDE 59

07/2020 59

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • smARTfmight: an environmentally aware, criticality

based Adaptive, Real-Time fmight management system for multi-copters

  • T

ask and system criticality

  • Environmental triggers for system modes
  • Dynamic reconfjguration of task execution frequencies
  • Modifjed rate monotonic scheduling framework
  • Improved fmight performance : {response, energy & absolute error}

Conclusions

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SLIDE 60

07/2020 60

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html
  • smARTfmight: an environmentally aware, criticality

based Adaptive, Real-Time fmight management system for multi-copters

  • T

ask and system criticality

  • Environmental triggers for system modes
  • Dynamic reconfjguration of task execution frequencies
  • Modifjed rate monotonic scheduling framework
  • Improved fmight performance : {response, energy & absolute error}
  • Extends legacy autopilots with smart resource management

Conclusions

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07/2020 61

Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

Thank You